Soft phototactic swimmer based on self-sustained hydrogel oscillator

Light-Driven Self-Oscillating Actuators with Phototactic Locomotion Based on Black Phosphorus Heterostructure

Developing self-oscillating soft actuators that enable autonomous, continuous, and directional locomotion is significant in biomimetic soft robotics fields, but remains great challenging. Here, an untethered soft photoactuators based on covalently-bridged black phosphorus-carbon nanotubes heterostructure with self-oscillation and phototactic locomotion under constant light irradiation is designed. Owing to the good photothermal effect of black phosphorus heterostructure and thermal deformation of the actuator components, the new actuator assembled by heterostructured black phosphorus, polymer and paper produces light-driven reversible deformation with fast and large response. By using this actuator as mechanical power and designing a robot configuration with self-feedback loop to generate self-oscillation, an inchworm-like actuator that can crawl autonomously towards the light source is constructed. Moreover, due to the anisotropy and tailorability of the actuator, an artificial crab robot that can simulate the sideways locomotion of crabs and simultaneously change color under light irradiation is also realized.

Photopatterned microswimmers with programmable motion without external stimuli

We introduce highly programmable microscale swimmers driven by the Marangoni effect (Marangoni microswimmers) that can self-propel on the surface of water. Previous studies on Marangoni swimmers have shown the advantage of self-propulsion without external energy source or mechanical systems, by taking advantage of direct conversion from power source materials to mechanical energy. However, current developments on Marangoni microswimmers have limitations in their fabrication, thereby hindering their programmability and precise mass production. By introducing a photopatterning method, we generated Marangoni microswimmers with multiple functional parts with distinct material properties in high throughput. Furthermore, various motions such as time-dependent direction change and disassembly of swimmers without external stimuli are programmed into the Marangoni microswimmers.

Design of MXene Composites with Biomimetic Rapid and Self-Oscillating Actuation under Ambient Circumstances

Although responsive actuators have been intensively investigated, it remains challenging to enable rapid and self-oscillating actuation under ambient circumstances without human intervention analogous to living organisms. By hybridizing a unique type of two-dimensional nanomaterials (i.e., MXene) with a particular hydrophilic polymer, a smart and flexible conductive composite was produced with rapid actuation and spontaneous oscillation near a moist surface. Due to the presence of layered microstructures and the moisture-sensitivity improved by surface roughness and intercalated polymeric layers, the composites could reversibly bend up to 180° in 2 s or 210° in 10 s on demand when the circumstantial humidity was varied, being superior or comparable to many actuators in the literature. More importantly, the composite was capable not only of flipping upside down repeatedly on the moist surface but also of self-oscillating ceaselessly under ambient gradient humidity without human intervention, e.g., an oscillation between 30 and 100° with an oscillation frequency of 0.08 Hz. This self-oscillation resulted from the occurrence of rapid asymmetrical hydration and dehydration of the composite between the regions of high and low humidity, which could further be modulated both by different hydrophilic polymers and by photoradiation owing to the photothermal effect of MXene nanosheets. Because of the ubiquitous presence of humidity gradient near the moist surface, this type of smart composite may not only offer a strategy for designing artificial materials that are capable of spontaneous actuation under ambient circumstance without human intervention but also promise potential applications in artificial muscles, autonomous robotics, and energy harvesting from environments.

Engineering Hydrogel-Based Biomedical Photonics: Design, Fabrication, and Applications

Light guiding and manipulation in photonics have become ubiquitous in events ranging from everyday communications to complex robotics and nanomedicine. The speed and sensitivity of light-matter interactions offer unprecedented advantages in biomedical optics, data transmission, photomedicine, and detection of multi-scale phenomena. Recently, hydrogels have emerged as a promising candidate for interfacing photonics and bioengineering by combining their light-guiding properties with live tissue compatibility in optical, chemical, physiological, and mechanical dimensions. Herein, the latest progress over hydrogel photonics and its applications in guidance and manipulation of light is reviewed. Physics of guiding light through hydrogels and living tissues, and existing technical challenges in translating these tools into biomedical settings are discussed. A comprehensive and thorough overview of materials, fabrication protocols, and design architectures used in hydrogel photonics is provided. Finally, recent examples of applying structures such as hydrogel optical fibers, living photonic constructs, and their use as light-driven hydrogel robots, photomedicine tools, and organ-on-a-chip models are described. By providing a critical and selective evaluation of the field's status, this work sets a foundation for the next generation of hydrogel photonic research.

Soft-bodied adaptive multimodal locomotion strategies in fluid-filled confined spaces

Soft-bodied locomotion in fluid-filled confined spaces is critical for future wireless medical robots operating inside vessels, tubes, channels, and cavities of the human body, which are filled with stagnant or flowing biological fluids. However, the active soft-bodied locomotion is challenging to achieve when the robot size is comparable with the cross-sectional dimension of these confined spaces. Here, we propose various control and performance enhancement strategies to let the sheet-shaped soft millirobots achieve multimodal locomotion, including rolling, undulatory crawling, undulatory swimming, and helical surface crawling depending on different fluid-filled confined environments. With these locomotion modes, the sheet-shaped soft robot can navigate through straight or bent gaps with varying sizes, tortuous channels, and tubes with a flowing fluid inside. Such soft robot design along with its control and performance enhancement strategies are promising to be applied in future wireless soft medical robots inside various fluid-filled tight regions of the human body.

High-Speed, Heavy-Load, and Direction-Controllable Photothermal Pneumatic Floating Robot

Light-fueled actuators are promising in many fields due to their contactless, easily controllable, and eco-efficiency features. However, their application in liquid environments is complicated by the existing challenges of rapid deformation in liquids, light absorption of the liquid media, and environmental contamination. Here, we design a photothermal pneumatic floating robot (PPFR) using a boat-paddle structure. Light energy is converted into thermal energy of air by an isolated photothermal composite, which is then converted into mechanical energy of liquid to drive the movement of PPFRs. By understanding and controlling the photothermal actuation, the PPFR can achieve an average velocity of 13.1 mm s^-1 in water and can be modified for remote on-demand differential steering and self-sustained oscillation. The PPFR may be modified to provide a lifting mechanism, capable of moving 4 times the PPFR mass. Various shapes and materials are suitable for the PPFR, providing a platform for liquid surface transporting, water sampling, pollutant collecting, underwater photography, and photocontrol robots in shallow water.

Soft Adaptive Mechanical Metamaterials

Soft materials are inherently flexible and make suitable candidates for soft robots intended for specific tasks that would otherwise not be achievable (e.g., smart grips capable of picking up objects without prior knowledge of their stiffness). Moreover, soft robots exploit the mechanics of their fundamental building blocks and aim to provide targeted functionality without the use of electronics or wiring. Despite recent progress, locomotion in soft robotics applications has remained a relatively young field with open challenges yet to overcome. Justly, harnessing structural instabilities and utilizing bistable actuators have gained importance as a solution. This report focuses on substrate-free reconfigurable structures composed of multistable unit cells with a nonconvex strain energy potential, which can exhibit structural transitions and produce strongly nonlinear transition waves. The energy released during the transition, if sufficient, balances the dissipation and kinetic energy of the system and forms a wave front that travels through the structure to effect its permanent or reversible reconfiguration. We exploit a triangular unit cell’s design space and provide general guidelines for unit cell selection. Using a continuum description, we predict and map the resulting structure’s behavior for various geometric and material properties. The structural motion created by these strongly nonlinear metamaterials has potential applications in propulsion in soft robotics, morphing surfaces, reconfigurable devices, mechanical logic, and controlled energy absorption.

Reconstructable Gradient Structures and Reprogrammable 3D Deformations of Hydrogels with Coumarin Units as the Photolabile Crosslinks

Morphing hydrogels have versatile applications in soft robotics, flexible electronics, and biomedical devices. Controlling component distribution and internal stress within a hydrogel is crucial for shape-changing. However, existing gradient structures of hydrogels are usually non-reconstructable, once encoded by chemical reactions and covalent bonds. Fabricating hydrogels with distinct gradient structures is inevitable for every new configuration, resulting in poor reusability, adaptability, and sustainability that are disadvantageous for diverse applications. Herein, a hydrogel containing reversible photo-crosslinks that enable reprogramming of the gradient structures and 3D deformations into various configurations is reported. The hydrogel is prepared by micellar polymerization of hydrophobic coumarin monomer and hydrophilic acrylic acid. The presence of hexadecyltrimethylammonium chloride micelles increases the local concentration of coumarin units and also improves the mechanical properties of the hydrogel by forming robust polyelectrolyte/surfactant complexes that serve as the physical crosslinks. High-efficiency photodimerization and photocleavage reactions of coumarins are realized under 365 and 254 nm light irradiation, respectively, affording reversible tuning of the network structure of the hydrogel. Through photolithography, different gradient structures are sequentially patterned in one hydrogel that direct the deformations into distinct configurations. Such a strategy should be applicable for other photolabile hydrogels toward reprogrammable control of network structures and versatile functions.

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human-Robot Interface

Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.

Healable, Degradable, and Conductive MXene Nanocomposite Hydrogel for Multifunctional Epidermal Sensors

Conductive hydrogels have emerged as promising material candidates for epidermal sensors due to their similarity to biological tissues, good wearability, and high accuracy of information acquisition. However, it is difficult to simultaneously achieve conductive hydrogel-based epidermal sensors with reliable healability for long-term usage, robust mechanical property, environmental degradability for decreased electronic waste, and sensing capability of the physiological stimuli and the electrophysiological signals. Herein, we propose the synthesis strategy of a multifunctional epidermal sensor based on the highly stretchable, self-healing, degradable, and biocompatible nanocomposite hydrogel, which is fabricated from the conformal coating of a MXene (Ti₃C₂T_x) network by the hydrogel polymer networks involving poly(acrylic acid) and amorphous calcium carbonate. The epidermal sensor can be employed to sensitively detect human motions with the fast response time (20 ms) and to serve as electronic skins for wirelessly monitoring the electrophysiological signals (such as the electromyogram and electrocardiogram signals). Meanwhile, the multifunctional epidermal sensor could be degraded in phosphate buffered saline solution, which could not cause any pollution to the environment. This line of research work sheds light on the fabrication of the healable, degradable, and electrophysiological signal-sensitive conductive hydrogel-based epidermal sensors with potential applications in human-machine interactions, healthy diagnosis, and smart robot prosthesis devices.

Self-sustained eversion or inversion of a thermally responsive torus

When a cylindrical rod is placed on a flat and hot surface with a constant temperature, it can reach a steady state after certain time. In the steady state, though the temperature field inside the rod is inhomogeneous, it does not change with time. The inhomogeneous temperature change in the rod may induce inhomogeneous thermal expansion in it. Recent experiments have determined that if the rod is slightly curved, the inhomogeneous thermal expansion in the rod can drive its continuous and self-sustained rolling on a hot surface. It has been further shown that if the rod is bent to a closed torus and placed on a hot surface, the torus everts or inverts continuously due to the cross-coupling between the thermal field and the cyclic rotation. Such cyclic eversion or inversion of a torus can be regarded as a zero-elastic-energy mode because both the elastic energy and the shape of the torus remain unchanged during the rotation. In this article, we develop a coupled mechanics theory to model the continuous self-sustained eversion or inversion of a viscoelastic torus on a hot surface. We hope our modeling will inspire more novel designs of elastic motors being capable of zero-energy mode motion and help to quantitatively predict their performance.

Customizing a self-healing soft pump for robot

Recent advances in soft materials enable robots to possess safer human-machine interaction ways and adaptive motions, yet there remain substantial challenges to develop universal driving power sources that can achieve performance trade-offs between actuation, speed, portability, and reliability in untethered applications. Here, we introduce a class of fully soft electronic pumps that utilize electrical energy to pump liquid through electrons and ions migration mechanism. Soft pumps combine good portability with excellent actuation performances. We develop special functional liquids that merge unique properties of electrically actuation and self-healing function, providing a direction for self-healing fluid power systems. Appearances and pumpabilities of soft pumps could be customized to meet personalized needs of diverse robots. Combined with a homemade miniature high-voltage power converter, two different soft pumps are implanted into robotic fish and vehicle to achieve their untethered motions, illustrating broad potential of soft pumps as universal power sources in untethered soft robotics.

Utilizing soft pumps in soft robotics is an attractive approach to endow untethered soft robots with muscle-like actuation. Here, the authors report bio-inspired soft electronic pumps as driving power sources to drive actuation and self-healing in untethered soft robotics.

Self-powered locomotion of a hydrogel water strider

Hydrogels are an exciting class of materials for new and emerging robotics. For example, actuators based on hydrogels have impressive deformability and responsiveness. Studies into hydrogels with autonomous locomotive abilities, however, are limited. Existing hydrogels achieve locomotion through the application of cyclical stimuli or chemical modifications. Here, we report the fabrication of active hydrogels with an intrinsic ability to move on the surface of water without operated stimuli for up to 3.5 hours. The active hydrogels were composed of hydrophobic and hydrophilic groups and underwent a dynamic wetting process to achieve spatial and temporal control of surface tension asymmetry. Using surface tension, the homogeneous active hydrogels propelled themselves and showed controlled locomotion on water, similar to common water striders.

Somatosensory actuator based on stretchable conductive photothermally responsive hydrogel

Mimicking biological neuromuscular systems' sensory motion requires the unification of sensing and actuation in a singular artificial muscle material, which must not only actuate but also sense their own motions. These functionalities would be of great value for soft robotics that seek to achieve multifunctionality and local sensing capabilities approaching natural organisms. Here, we report a soft somatosensitive actuating material using an electrically conductive and photothermally responsive hydrogel, which combines the functions of piezoresistive strain/pressure sensing and photo/thermal actuation into a single material. Synthesized through an unconventional ice-templated ultraviolet-cryo-polymerization technique, the homogenous tough conductive hydrogel exhibited a densified conducting network and highly porous microstructure, achieving a unique combination of ultrahigh conductivity (36.8 milisiemens per centimeter, 10³-fold enhancement) and mechanical robustness, featuring high stretchability (170%), large volume shrinkage (49%), and 30-fold faster response than conventional hydrogels. With the unique compositional homogeneity of the monolithic material, our hydrogels overcame a limitation of conventional physically integrated sensory actuator systems with interface constraints and predefined functions. The two-in-one functional hydrogel demonstrated both exteroception to perceive the environment and proprioception to kinesthetically sense its deformations in real time, while actuating with near-infinite degrees of freedom. We have demonstrated a variety of light-driven locomotion including contraction, bending, shape recognition, object grasping, and transporting with simultaneous self-monitoring. When connected to a control circuit, the muscle-like material achieved closed-loop feedback controlled, reversible step motion. This material design can also be applied to liquid crystal elastomers.

Beyond the Visible: Bioinspired Infrared Adaptive Materials

Infrared (IR) adaptation phenomena are ubiquitous in nature and biological systems. Taking inspiration from natural creatures, researchers have devoted extensive efforts for developing advanced IR adaptive materials and exploring their applications in areas of smart camouflage, thermal energy management, biomedical science, and many other IR-related technological fields. Herein, an up-to-date review is provided on the recent advancements of bioinspired IR adaptive materials and their promising applications. First an overview of IR adaptation in nature and advanced artificial IR technologies is presented. Recent endeavors are then introduced toward developing bioinspired adaptive materials for IR camouflage and IR radiative cooling. According to the Stefan-Boltzmann law, IR camouflage can be realized by either emissivity engineering or thermal cloaks. IR radiative cooling can maximize the thermal radiation of an object through an IR atmospheric transparency window, and thus holds great potential for use in energy-efficient green buildings and smart personal thermal management systems. Recent advances in bioinspired adaptive materials for emerging near-IR (NIR) applications are also discussed, including NIR-triggered biological technologies, NIR light-fueled soft robotics, and NIR light-driven supramolecular nanosystems. This review concludes with a perspective on the challenges and opportunities for the future development of bioinspired IR adaptive materials.

4D Printable Tough and Thermoresponsive Hydrogels

Hydrogels with attractive stimuli-responsive volume changing abilities are seeing emerging applications as soft actuators and robots. However, many hydrogels are intrinsically soft and fragile for tolerating mechanical damage in real world applications and could not deliver high actuation force because of the mechanical weakness of the porous polymer network. Conventional tough hydrogels, fabricated by forming double networks, dual cross-linking, and compositing, could not satisfy both high toughness and high stimuli responsiveness. Herein, we present a material design of combining responsive and tough components in a single hydrogel network, which enables the synergistic realization of high toughness and actuation performance. We showcased this material design in an exemplary tough and thermally responsive hydrogel based on PVA/(PVA-MA)-g-PNIPAM, which achieved 100 times higher toughness (∼10 MJ/m³) and 20 times higher actuation stress (∼10 kPa) compared to conventional PNIPAM hydrogels, and a contraction ratio of up to 50% simultaneously. The effects of salt concentration, polymer ratio, and structural design on the mechanical and actuation properties have been systematically investigated. Utilizing 4D printing, actuators of various geometries were fabricated, as well as lattice-architected hydrogels with macro-voids, presenting 4 times faster actuation speed compared to bulk hydrogel, in addition to the high toughness, actuation force, and contraction ratio.

Recent progress in the shape deformation of polymeric hydrogels from memory to actuation

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli. Due to their wet and soft properties, shape deformation hydrogels are anticipated to be a candidate for the exploration of biomimetic materials, and have shown various potential applications in many fields. Here, an overview of the mechanisms of shape deformation hydrogels and methods for their preparation is presented. Some innovative and efficient strategies to fabricate programmable deformation hydrogels are then introduced. Moreover, successful explorations of their potential applications, including information encryption, soft robots and bionomic systems, are discussed. Finally, remaining great challenges including the achievement of multiple stable deformation states and the combination of shape deformation and sensing are highlighted.

Chemical pumps and flexible sheets spontaneously form self-regulating oscillators in solution

The synchronization of self-oscillating systems is vital to various biological functions, from the coordinated contraction of heart muscle to the self-organization of slime molds. Through modeling, we design bioinspired materials systems that spontaneously form shape-changing self-oscillators, which communicate to synchronize both their temporal and spatial behavior. Here, catalytic reactions at the bottom of a fluid-filled chamber and on mobile, flexible sheets generate the energy to "pump" the surrounding fluid, which also transports the immersed sheets. The sheets exert a force on the fluid that modifies the flow, which in turn affects the shape and movement of the flexible sheets. This feedback enables a single coated (active) and even an uncoated (passive) sheet to undergo self-oscillation, displaying different oscillatory modes with increases in the catalytic reaction rate. Two sheets (active or passive) introduce excluded volume, steric interactions. This distinctive combination of the hydrodynamic, fluid-structure, and steric interactions causes the sheets to form coupled oscillators, whose motion is synchronized in time and space. We develop a heuristic model that rationalizes this behavior. These coupled self-oscillators exhibit rich and tunable phase dynamics, which depends on the sheets' initial placement, coverage by catalyst and relative size. Moreover, through variations in the reactant concentration, the system can switch between the different oscillatory modes. This breadth of dynamic behavior expands the functionality of the coupled oscillators, enabling soft robots to display a variety of self-sustained, self-regulating moves.

Light-activated shape morphing and light-tracking materials using biopolymer-based programmable photonic nanostructures

Natural systems display sophisticated control of light-matter interactions at multiple length scales for light harvesting, manipulation, and management, through elaborate photonic architectures and responsive material formats. Here, we combine programmable photonic function with elastomeric material composites to generate optomechanical actuators that display controllable and tunable actuation as well as complex deformation in response to simple light illumination. The ability to topographically control photonic bandgaps allows programmable actuation of the elastomeric substrate in response to illumination. Complex three-dimensional configurations, programmable motion patterns, and phototropic movement where the material moves in response to the motion of a light source are presented. A “photonic sunflower” demonstrator device consisting of a light-tracking solar cell is also illustrated to demonstrate the utility of the material composite. The strategy presented here provides new opportunities for the future development of intelligent optomechanical systems that move with light on demand.

Programmable optical actuation in a material provides special possibilities for applications. Here, the authors combine photonic crystals with elastomers to provide material composites with tunable deformation and actuation as a function of moving light.

Tunable Photocontrolled Motions of Anil-Poly(ethylene terephthalate) Systems through Excited-State Intramolecular Proton Transfer and Trans-Cis Isomerization

With the combination of excited-state intramolecular proton transfer and trans-cis isomerization as microscopic molecular motions under light stimulus, multiple photodeformable processes are achieved in anil-poly(ethylene terephthalate) systems, including simple bending, dancing butterflies, and switches. The doping films can realize light-driven contraction as large as 70% and bending angle of about 141°, upon a simple stretching process. The internal mechanism is confirmed by transient absorption spectra, and the relationship between molecular structure and photocontrolled motion is investigated by theoretical calculations and crystal analysis. This work provides a convenient approach by utilizing anils to fabricate reversible actuations with desirable geometries, greatly contributing to the applications and manufacturing of soft robots and related research.

Polarization-Modulated Multidirectional Photothermal Actuators

Photothermal actuators have attracted increasing attention due to their ability to convert light energy into mechanical deformation and locomotion. This work reports a freestanding, multidirectional photothermal robot that can walk along a predesigned pathway by modulating laser polarization and on-off switching. Magnetic-plasmonic hybrid Fe₃ O₄ /Ag nanorods are synthesized using an unconventional templating approach. The coupled magnetic and plasmonic anisotropy allows control of the rod orientation, plasmonic excitation, and photothermal conversion by simply applying a magnetic field. Once the rods are fixed with desirable orientations in a bimorph actuator by magnetic-field-assisted lithography, the bending of the actuator can be controlled by switching the laser polarization. A bipedal robot is created by coupling the rod orientation with the alternating actuation of its two legs. Irradiating the robot by a laser with alternating or fixed polarization synergistically results in basic movement (backward and forward) and turning (including left-, right-, and U-turn), respectively. A complex walk along predesigned pathways can be potentially programmed by combining the movement and turning modes of the robots. This strategy provides an alternative driving mechanism for preparing functional soft robots, thus breaking through the limitations in the existing systems in terms of light sources and actuation manners.

Enhancements of Loading Capacity and Moving Ability by Microstructures for Wireless Soft Robot Boats

Because of its promising applications in various fields such as in vivo drug treatment, in-pipe inspection, and so forth, there is an increasing interest on wireless soft robot boats taking advantages of their shape adaptability. The loading capacity and mobility, however, are always fundamental challenges to restrict their applications. In this study, a graphene-based soft robot boat, which could be programmable-driven by a remote near-infrared light, is proposed. Different microstructures underneath the boat are carefully designed and employed to improve both the loading capacity and the moving ability. It reveals that, compared to that without microstructures, the soft robot boat with square pillar arrays (120-160 μm of period, duty cycle, and aspect ratio at active Wenzel/Cassie transition point) could enhance the loading capacity by 12.75% and the moving velocity by 16.70%. For the robot boat with grating structures, a strong driving anisotropy is revealed, with an enhancement of 2.24% for the loading capacity and 34.65% for the driving response along the grating lines. A boat prototype with a self-weight of 6.05 g is finally developed and can achieve continuous navigation in a closed narrow space for in situ monitoring, which may find applications in the inspection of other narrow terrains (e.g., blood vessels).

Actuating Supramolecular Shape Memorized Hydrogel Toward Programmable Shape Deformation

Inspired by nature, diverse biomimetic hydrogel actuators are fabricated and become one of the most essential components of bionics research. Usually, the anisotropic structure of a hydrogel actuator is generated at the early fabrication process, only a specific shape transformation behavior can be produced under external stimuli, and thus has limited the development of hydrogel actuators toward the biomimetic shape deformation behavior. Herein, a novel bilayer hydrogel having a thermoresponsive actuating layer and a metal ion-responsive memorizing layer is proposed, therefore, a 2D hydrogel film can be fixed into various 3D shapes via supramolecular metal-ligand coordination, with further realizing programmable 4D shape deformation under the stimulus of temperature. By manipulating the temporary shapes via shape memory behavior, various temporary anisotropic structures can be obtained via the bilayer hydrogel, thus producing diverse reversible shape deformation performances, which is expected to promote the development of intelligent polymeric materials.

Hierarchically Molecular Imprinted Porous Particles for Biomimetic Kidney Cleaning

Blood purification by adsorption of excessive biomolecules is vital for maintaining human health. Here, inspired by kidney self-purification, which removes a number of biomolecules with different sizes simultaneously, hierarchical molecular-imprinted inverse opal particles integrated with a herringbone microfluidic chip for efficient biomolecules cleaning are presented. The particle possesses combinative porous structure with both surface and interior imprints for the specific recognition of small molecules and biomacromolecules. Additionally, the presence of the herringbone mixer largely improve the adsorption efficiency due to enhanced mixing. Moreover, the inverse opal framework of the particles give rise to optical sensing ability for self-reporting of the adsorption states. These features, together with its reusability, biosafety, and biocompatibility, make the platform highly promising for clinical blood purification and artificial kidney construction.

Large-Scale Spinning Approach to Engineering Knittable Hydrogel Fiber for Soft Robots

Efforts to impart responsiveness to environmental stimuli in artificial hydrogel fibers are crucial to intelligent, shape-memory electronics and weavable soft robots. However, owing to the vulnerable mechanical property, poor processability, and the dearth of scalable assembly protocols, such functional hydrogel fibers are still far from practical usage. Herein, we demonstrate an approach toward the continuous fabrication of an electro-responsive hydrogel fiber by using the self-lubricated spinning (SLS) strategy. The polyelectrolyte inside the hydrogel fiber endows it with a fast electro-response property. After solvent exchange with triethylene glycol (TEG), the maximum tensile strength of the hydrogel fiber increases from 114 kPa to 5.6 MPa, far superior to those hydrogel fiber-based actuators reported previously. Consequently, the flexible and mechanical stable hydrogel fiber is knitted into various complex geometries on demand such as a crochet flower, triple knot, thread tube, pentagram, and hollow cage. Additionally, the electrochemical-responsive ionic hydrogel fiber is capable of acting as soft robots underwater to mimic biological motions, such as Mobula-like flapping, jellyfish-mimicking grabbing, sea worm-mimicking multi-degree of freedom movements, and human finger-like smart gesturing. This work not only demonstrates an example for the large-scale production of previous infeasible hydrogel fibers, but also provides a solution for the rational design and fabrication of hydrogel woven intelligent devices.

Light-steered locomotion of muscle-like hydrogel by self-coordinated shape change and friction modulation

Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated actuators to achieve similar purposes. Here we report a hydrogel-based, biomimetic soft robot capable of multimodal locomotion fueled and steered by light irradiation. A muscle-like poly(N-isopropylacrylamide) nanocomposite hydrogel is prepared by electrical orientation of nanosheets and subsequent gelation. Patterned anisotropic hydrogels are fabricated by multi-step electrical orientation and photolithographic polymerization, affording programmed deformations. Under light irradiation, the gold-nanoparticle-incorporated hydrogels undergo concurrent fast isochoric deformation and rapid increase in friction against a hydrophobic substrate. Versatile motion gaits including crawling, walking, and turning with controllable directions are realized in the soft robots by dynamic synergy of localized shape-changing and friction manipulation under spatiotemporal light stimuli. The principle and strategy should merit designing of continuum soft robots with biomimetic mechanisms.

In-air fast response and high speed jumping and rolling of a light-driven hydrogel actuator

Stimuli-responsive hydrogel actuators have promising applications in various fields. However, the typical hydrogel actuation relies on the swelling and de-swelling process caused by osmotic-pressure changes, which is slow and normally requires the presence of water environment. Herein, we report a light-powered in-air hydrogel actuator with remarkable performances, including ultrafast motion speed (up to 1.6 m/s), rapid response (as fast as 800 ms) and high jumping height (~15 cm). The hydrogel is operated based on a fundamentally different mechanism that harnesses the synergetic interactions between the binary constituent parts, i.e. the elasticity of the poly(sodium acrylate) hydrogel, and the bubble caused by the photothermal effect of the embedded magnetic iron oxide nanoparticles. The current hydrogel actuator exhibits controlled motion velocity and direction, making it promising for a wide range of mobile robotics, soft robotics, sensors, controlled drug delivery and other miniature device 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.

Photo-regulated trajectories of gliding microtubules conjugated with DNA

We regulate the persistency in motion of kinesin-driven microtubules (MTs) simply using a photoresponsive DNA (pDNA) and ultraviolet (UV)-visible light. The path persistence length of MTs, which is a measure of the persistency in their motion, increases and decreases upon illuminating the MTs with UV and visible light respectively. Moreover, pDNA is found to work as a shield for MTs against damage under UV irradiation.

Functionalizing Double-Network Hydrogels for Applications in Remote Actuation and in Low-Temperature Strain Sensing

Multifunctional hydrogels have important applications in various fields such as artificial muscles, wearable devices, soft robotics, and tissue engineering, especially for those with favorable mechanical properties, good low-temperature resistance, and stimuli-responsive capabilities. In the current study, a type of polyacrylamide/sodium alginate/carbon nanotube (PAAm/SA/CNT) double-network (DN) hydrogel was fabricated, which exhibited a high tensile strength of 271.68 ± 6.04 kPa, a favorable conductivity of 1.38 ± 0.17 S·m^-1, and a good self-healing ability under heating conditions. In addition, the composite hydrogel exhibited controllable photomechanical deformations under near-infrared irradiation, such as bending, swelling, swimming, and object grasping. To further broaden the applications of the hydrogel in low-temperature environments, calcium chloride (CaCl₂) was introduced into such a PAAm/SA/CNT DN hydrogel as an additive. Interestingly, the tensile/compressive strengths as well as elasticity were well-maintained at a temperature as low as -20 °C. In addition, the PAAm/SA/CNT/CaCl₂ hydrogel presented excellent conductivity, recoverability, and strain-sensing capability under such extreme conditions. Overall, the investigations conducted in this paper have provided potentially new methods and inspirations for the generation of multifunctional PAAm/SA/CNT/CaCl₂ hybrid DN hydrogels toward extended applications.

Polyvinyl alcohol: a high-resolution hydrogel resist for humidity-sensitive micro-/nanostructure

A high-resolution nanopatterning technique is desirable with the present rapid development of hydrogel nanodevices. Here, we demonstrate that polyvinyl alcohol (PVA), a popular polymeric hydrogel, can function as the negative-tone resist for electron beam lithography (EBL) with a resolution capability as narrow as 50 nm half-pitch. Furthermore, the hydrophilic groups of PVA are stable after EBL exposure, and thus the pattern still shows rapid responsivity to humidity change. An aqueous nanopatterning process including dissolution, spin-coating and development is setup, which is friendly for organic device fabrication free of organic solvent. This high-resolution nanopatterning technique with PVA is helpful for the design and realization of hydrogel-related nanodevices in the future.

Kirigami-Design-Enabled Hydrogel Multimorphs with Application as a Multistate Switch

Morphing materials have promising applications in soft robots, intelligent devices, and so forth. Among the various design strategies, kirigami structures are recognized as a powerful tool to obtain sophisticated 3D configurations and unprecedented properties from planar designs on common materials. Here, some kirigami designs are demonstrated for programmable, multistable 3D configurations from composite hydrogel sheets. Via photolithographic polymerization, perforated composite hydrogel sheets are fabricated, in which soft and active hydrogel strips are patterned in stiff and passive hydrogel frames. When immersed in water, the gel strips buckle out of plane due to swelling mismatch. In the kirigami structures, the geometric continuity is disrupted by the introduction of cutouts, and thus the degrees of deformation freedom increases remarkably. Multiple configurations are obtained in a single composite hydrogel by controlling the buckling direction of each strip. Multitier configurations are also obtained by using a hierarchically designed kirigami structure. A multicontact switch of an electric circuit is designed by harnessing the multitier gel configurations. Furthermore, a rotation mode is realized by introducing chirality in the kirigami design. The versatile design of the kirigami structure for programmable deformations should be applicable for other intelligent materials toward promising applications in biomedical devices and flexible electronics.

Bioinspired underwater locomotion of light-driven liquid crystal gels

Soft-bodied aquatic invertebrates, such as sea slugs and snails, are capable of diverse locomotion modes under water. Recapitulation of such multimodal aquatic locomotion in small-scale soft robots is challenging, due to difficulties in precise spatiotemporal control of deformations and inefficient underwater actuation of existing stimuli-responsive materials. Solving this challenge and devising efficient untethered manipulation of soft stimuli-responsive materials in the aquatic environment would significantly broaden their application potential in biomedical devices. We mimic locomotion modes common to sea invertebrates using monolithic liquid crystal gels (LCGs) with inherent light responsiveness and molecular anisotropy. We elicit diverse underwater locomotion modes, such as crawling, walking, jumping, and swimming, by local deformations induced by selective spatiotemporal light illumination. Our results underpin the pivotal role of the physicomechanical properties of LCGs in the realization of diverse modes of light-driven robotic underwater locomotion. We envisage that our results will introduce a toolbox for designing efficient untethered soft robots for fluidic environments.

Light-fuelled freestyle self-oscillators

Self-oscillation is a phenomenon where an object sustains periodic motion upon non-periodic stimulus. It occurs commonly in nature, a few examples being heartbeat, sea waves and fluttering of leaves. Stimuli-responsive materials allow creating synthetic self-oscillators fuelled by different forms of energy, e.g. heat, light and chemicals, showing great potential for applications in power generation, autonomous mass transport, and self-propelled micro-robotics. However, most of the self-oscillators are based on bending deformation, thereby limiting their possibilities of being implemented in practical applications. Here, we report light-fuelled self-oscillators based on liquid crystal network actuators that can exhibit three basic oscillation modes: bending, twisting and contraction-expansion. We show that a time delay in material response dictates the self-oscillation dynamics, and realize a freestyle self-oscillator that combines numerous oscillation modes simultaneously by adjusting the excitation beam position. The results provide new insights into understanding of self-oscillation phenomenon and offer new designs for future self-propelling micro-robots.

Artificial phototropism for omnidirectional tracking and harvesting of light

Many living organisms track light sources and halt their movement when alignment is achieved. This phenomenon, known as phototropism, occurs, for example, when plants self-orient to face the sun throughout the day. Although many artificial smart materials exhibit non-directional, nastic behaviour in response to an external stimulus, no synthetic material can intrinsically detect and accurately track the direction of the stimulus, that is, exhibit tropistic behaviour. Here we report an artificial phototropic system based on nanostructured stimuli-responsive polymers that can aim and align to the incident light direction in the three-dimensions over a broad temperature range. Such adaptive reconfiguration is realized through a built-in feedback loop rooted in the photothermal and mechanical properties of the material. This system is termed a sunflower-like biomimetic omnidirectional tracker (SunBOT). We show that an array of SunBOTs can, in principle, be used in solar vapour generation devices, as it achieves up to a 400% solar energy-harvesting enhancement over non-tropistic materials at oblique illumination angles. The principle behind our SunBOTs is universal and can be extended to many responsive materials and a broad range of stimuli.