Dual-Programmable Shape-Morphing and Self-Healing Organohydrogels Through Orthogonal Supramolecular Heteronetworks

Biomimetic Multiscale Oriented PVA/NRL Hydrogel Enabled Multistimulus Responsive and Smart Shape Memory Actuator

Shape memory hydrogels provide a worldwide scope for functional soft materials. However, most shape memory hydrogels exhibit poor mechanical properties, leading to low actuation strength, which severely limits their applications in smart biomimetic devices. Herein, a strategy for muscle-inspired shape memory-oriented polyvinyl alcohol (PVA)-natural rubber latex (NRL) hydrogel (OPNH) with multiscale oriented structure is demonstrated. The shape memory function comes from the stretch-induced crystallization of natural rubber (NR), while PVA forms strong hydrogen bonding interactions with proteins and phospholipids on the surface of NRL particles. Meanwhile, the reconfigurable interactions of PVA and NR produce a multiscale-oriented structure during stretch-drying, improving the mechanical and shape memory properties. The resultant OPNH shows excellent interfacial compatibility, exhibiting outstanding mechanical performance (3.2 MPa), high shape fixity (≈80%) and shape recovery ratio (≈92%), high actuation strength (206 kPa), working capacity (105 kJ m- 3), extremely short response time (≈2 s), low response temperature (28 °C) and smart thermal responsiveness. It can even maintain muscle-like working capacity when lifting a load equivalent to 372 times its weight, providing a new class shape memory material for the application in smart biomimetic muscles and multistimulus responsive devices.

Tetherless and Batteryless Soft Navigators and Grippers

Remotely controllable soft actuators have promising potential applications in many fields including soft robotics, exploration, and invasion medical treatment. Shape memory polymers could store and release energy, resulting in shape deformation, and have been regarded as promising candidates to fabricate untethered soft robots. Herein, an untethered and battery-free soft navigator and gripper based on a shape memory hydrogel is presented. The shape memory hydrogel is obtained through hydrogen bonding between gelatin and tannic acid, and the hydrogel displays excellent shape memory properties on the basis of hydrogen bonding and the coil-triple helix transition of gelatin. Moreover, Fe3O4 nanoparticles are introduced to endow the hydrogel magnetic responsiveness and photothermal conversion capacity. Finally, the shape memory hydrogel in a stretched state is assembled with an inert hydrogel to achieve a bilayer hydrogel actuator, which could produce complex shape transformation due to the shape recovery of the shape memory layer induced by heat or light. Taking advantage of the magnetically control and light-responsive shape deformation, remotely controllable soft grippers that could navigate through tortuous paths and grasp objects from a hard-to-reach place have been accomplished. This approach will inspire the design and fabrication of novel shape memory hydrogels as remotely controllable soft robots.

Bicontinuous vitrimer heterogels with wide-span switchable stiffness-gated iontronic coordination

Currently, it remains challenging to balance intrinsic stiffness with programmability in most vitrimers. Simultaneously, coordinating materials with gel-like iontronic properties for intrinsic ion transmission while maintaining vitrimer programmable features remains underexplored. Here, we introduce a phase-engineering strategy to fabricate bicontinuous vitrimer heterogel (VHG) materials. Such VHGs exhibited high mechanical strength, with an elastic modulus of up to 116 MPa, a high strain performance exceeding 1000%, and a switchable stiffness ratio surpassing 5 × 103. Moreover, highly programmable reprocessing and shape memory morphing were realized owing to the ion liquid-enhanced VHG network reconfiguration. Derived from the ion transmission pathway in the ILgel, which responded to the wide-span switchable mechanics, the VHG iontronics had a unique bidirectional stiffness-gated piezoresistivity, coordinating both positive and negative piezoresistive properties. Our findings indicate that the VHG system can act as a foundational material in various promising applications, including smart sensors, soft machines, and bioelectronics.

Hydrogel Rivet with Unidirectional Shape Morphing for Flexible Mechanical Assembly

Integrating diverse materials and functions into highly additive produce has piqued global interest due to the increasing demands of intelligent soft robotics. Nevertheless, existing assembly techniques, especially supramolecular assembly which heavily rely on precise chemical design and specific recognition, may prove inadequate when confronted with diverse external demands. Inspired by the traditional mechanical assembly, rivet connection, herein, a thermo-responsive hydrogel with unidirectional shape-morphing is fabricated and a stable mechanical assembly is constructed by emulating the rivet connection mechanism. This system employed poly(acrylamide-co-acrylic acid) [P(AAm-co-AAc)] to induce continuous swelling and hexylamine-modified polyvinyl alcohol (PVA-C6) as a molecular switch to control the swelling process. The hydrogel rivet, initially threaded through pre-fabricated hollows in two components. Subsequently, upon the disassociation of alkane chains the molecular switch would activate, inducing swelling and stable mechanical assembly via anchor structures. Moreover, to enhance the assembly strength, knots are introduced to enhance assembly strength, guiding localized stress release for programmed deformations. Additionally, the system can be remotely controlled using near-infrared light (NIR) by incorporating photo-thermal nanoparticles. This work presents a universal and efficient strategy for constructing stable mechanical assemblies without compromising overall softness, offering significant potential for the fabrication of integrated soft robots.

Novel Heterogeneous Hydrogel with Dual-Responsive Shape Programmability and Good Biocompatibility

Shape memory polymers (SMPs) responsive to various external stimuli can realize a complex shape transformation process and have attracted extensive attention. However, integrating multiple stimulus-responsive mechanisms in one material often requires a complex molecular design and synthesis procedure. In this work, we designed a novel dual-responsive heterogeneous hydrogel (PU-PAM/Alg/PDA), which was manufactured through in situ free radical polymerization of acrylamide (AM) in the presence of alginate (Alg) and polydopamine (PDA) in a porous polycaprolactone-based polyurethane foam (PU-foam). The PU-PAM/Alg/PDA hydrogel could achieve thermal responsiveness through melting-crystallization transformation of polycaprolactone (PCL), while the metallo-supramolecular interactions between Alg and Fe3+ could provide ion responsiveness for this hydrogel. This dual-programmable feature endowed the heterogeneous hydrogel with a complex shape-morphing behavior and also a reconfiguration ability for the permanent shape. Meanwhile, the strong hydrogen bondings between PDA and polyurethane chains enhanced the interfacial adhesions, resulting in the structural integrity and excellent mechanical property of PU-PAM/Alg/PDA. The in vitro and in vivo tests revealed the good biocompatibility of the heterogeneous hydrogel, and the potential of the heterogeneous hydrogel as an esophageal stent was evaluated in vitro as conceptual proof.

Strong and tough polysaccharide organohydrogels for strain, humidity and temperature sensors

To avoid the potential toxicity of monomer residues in synthetic polymer based organohydrogels, natural polysaccharide-based organohydrogels are expected to be used in multi-functional wearable sensory systems, but most of them have unsatisfactory stiffness, strength and fracture toughness. Herein, a cooking and soaking strategy is proposed to prepare novel natural polysaccharide-based organohydrogels possessing outstanding stiffness, strength, toughness, freezing resistance, heating resistance and long-term durability. The agar organohydrogel exhibits a fracture stress of 3.3 MPa, a Young's modulus of 2.26 MPa and a fracture toughness of 14.8 kJ m-2, the κ-carrageenan organohydrogel exhibits a fracture stress of 3.3 MPa, a Young's modulus of 4.34 MPa and a fracture toughness of 11.0 kJ m-2, and the gellan organohydrogel exhibits a fracture stress of 1.2 MPa, a Young's modulus of 2.81 MPa and a fracture toughness of 5.4 kJ m-2. Furthermore, the agar organohydrogels are assembled into multi-functional wearable sensors by introducing NaCl as a conducting agent exhibiting responses to strain (5-150%), temperature (-15 to 60 °C) and humidity (11-97%), and possessing exceptional multi-sensory capabilities. Therefore, the developed strategy has shown a new pathway towards strengthening polysaccharide-based organohydrogels with potential for application in wearable sensory systems.

Eco-Friendly Flame-Retardant Phase-Change Composite Films Based on Polyphosphazene/Phosphorene Hybrid Foam and Paraffin Wax for Light/Heat-Dual-Actuated Shape Memory

Multiactuated shape memory materials are a class of promising intelligent materials that have received great interest in the fields of self-healing, anticounterfeiting, biomedical, soft robotic, and smart thermal management applications. To obtain a light/heat-dual-actuated shape memory material for thermal management applications in fire safety, we have designed a type of halogen-free flame-retardant phase-change composite film based on polyaryloxyphosphazene (PDAP)/phosphorene (PR) hybrid foam as a support material and paraffin wax (PW) as a phase-change material (PCM). PDAP was synthesized as a flexible foam matrix through the ring-opening polymerization of hexachlorocyclotriphosphazene, followed by a substitution reaction of aryloxy groups. The porosity of the PDAP foam is improved by introducing PR nanosheets, facilitating a high latent heat capacity of the PDAP-PR/PW composite films for thermal management applications. The PDAP-PR/PW composite films can implement rapid shape recovery within 65 s in the heating process, which is much shorter than that of the corresponding film without PR nanosheets (185 s). Furthermore, the PDAP-PR/PW composite films also exhibit light-actuated shape memory behavior thanks to their good solar-to-thermal energy absorption and conversion contributed by PR nanosheets as a highly effective photothermal material. More importantly, the presence of PR nanosheets imparts an excellent flame-retardant property to the PDAP-PR/PW composite films. The PDAP-PR/PW composite film can be self-extinguished within 2 s after the flame. Through an innovative integration of flexible polyphosphazene foam, PR nanosheets, and solid-liquid PCM to obtain a sensitive actuating response to light and heat, this study offers a new approach for developing multiactuated and eco-friendly flame-retardant shape memory materials to meet the requirement of applications with a requirement of fire safety in soft actuators, thermal therapy, control devices, and so on.

Multiple hydrogen bonding driven supramolecular architectures and their biomedical applications

Supramolecular chemistry combines the strength of molecular assembly via various molecular interactions. Hydrogen bonding facilitated self-assembly with the advantages of directionality, specificity, reversibility, and strength is a promising approach for constructing advanced supramolecules. There are still some challenges in hydrogen bonding based supramolecular polymers, such as complexity originating from tautomerism of the molecular building modules, the assembly process, and structure versatility of building blocks. In this review, examples are selected to give insights into multiple hydrogen bonding driven emerging supramolecular architectures. We focus on chiral supramolecular assemblies, multiple hydrogen bonding modules as stimuli responsive sources, interpenetrating polymer networks, multiple hydrogen bonding assisted organic frameworks, supramolecular adhesives, energy dissipators, and quantitative analysis of nano-adhesion. The applications in biomedical materials are focused with detailed examples including drug design evolution for myotonic dystrophy, molecular assembly for advanced drug delivery, an indicator displacement strategy for DNA detection, tissue engineering, and self-assembly complexes as gene delivery vectors for gene transfection. In addition, insights into the current challenges and future perspectives of this field to propel the development of multiple hydrogen bonding facilitated supramolecular materials are proposed.

Developing Safe Organohydrogel Sunscreens Using Polyelectrolyte-Betaine Surfactant Complexes

Oil-in-water emulsions are extensively used in skincare products due to their improved texture, stability, and effectiveness. There is limited success in developing effective delivery systems that can selectively target the active sunscreen ingredients onto the skin surface. Herein, an organohydrogel was prepared by physical cross-linking of an oil-in-water nanoemulsion with chitosan under neutral pH conditions. In the presence of a small quantity of coconut oil, lauramidopropyl betaine and glycerol were able to emulsify the active sunscreen ingredients into nanoscale droplets with enhanced ultraviolet light absorption. A facile pH-triggered interfacial cross-linking approach was applied to transform the nanoemulsion into an organohydrogel sunscreen. Furthermore, the organohydrogel sunscreen displayed encouraging characteristics including efficient UV-blocking capacity, resistance to water, simple removal, and minimal skin penetration. This facile approach provides an effective pathway for scaling up the organohydrogels, which are highly suitable for the safe application of sunscreen.

A hydrogel dressing with tunable critical temperature and photothermal modulating melittin release for multiply antibacterial treatment

It is imperative to develop an antibiotic-free and long-term effective strategy for treating chronic wound infections due to the long-term utilization of antibiotics easily causing drug resistance. Herein, we fabricated a novel poly-N-isopropylacrylamide (PNIPAM)/polyacrylamide (PAM) coupling thermosensitive hydrogel integrating 1D lysozyme nanofiber doped with CuS nanoparticles (CuS/PP) and loading antibacterial peptide melittin (M) (CuS/PP-M) for combating chronic wound infection via photothermal modulating the release of melittin. For the CuS/PP-M hydrogel, the copolymerization of PNIPAM and PAM allows the lower critical solution temperature (LCST) higher than the body temperature, effectively hindering the spontaneous release of melittin when contacts the infected wound, while the integration of LNF/CuS nanofibers provides a stable photothermal treatment for triggering the release of melittin. As a result, the CuS/PP-M hydrogel exhibits synergistically enhanced effect on killing both Gram-positive and Gram-negative bacteria, which maintains more than 99 % bactericidal efficiency, even displays a long-term and multiply antibacterial performance by photothermal modulating melittin release. Moreover, the CuS/PP-M hydrogel presents both high antibacterial activity and excellent wound healing performance in the mouse wound model, thereby benefiting the chronic wound healing.

Enhanced Rupture Force in a Cut-Dispersed Double-Network Hydrogel

The Kirigami approach is an effective way to realize controllable deformation of intelligent materials via introducing cuts into bulk materials. For materials ranging from ordinary stiff materials such as glass, ceramics, and metals to soft materials, including ordinary hydrogels and elastomers, all of them are all sensitive to the presence of cuts, which usually act as defects to deteriorate mechanical properties. Herein, we study the influence of the cuts on the mechanical properties by introducing "dispersed macro-scale cuts" into a model tough double network (DN) hydrogel (named D-cut gel), which consists of a rigid and brittle first network and a ductile stretchable second network. For comparison, DN gels with "continuous cuts" having the same number of interconnected cuts (named C-cut gel) were chosen. The fracture tests of D-cut gel and C-cut gel with different cut patterns were performed. The fracture observation revealed that crack blunting occurred at each cut tip, and a large wrinkle-like zone was formed where the wrinkles were parallel to the propagation direction of the cut. By utilizing homemade circular polarizing optical systems, we found that introducing dispersed cuts increases the rupture force by homogenizing the stress around the crack tip surrounding every cut, which reduces stress concentration in one certain cut. We believe this work reveals the fracture mechanism of tough soft materials with a kirigami cut structure, which should guide the design of advanced soft and tough materials along this line.

A Metal Coordination-Based Supramolecular Elastomer with Shape Memory-Assisted Self-Healing Effect

Rubber materials are widely used in aerospace, automotive, smart devices and artificial skin. It is significant to address the aging susceptibility of conventional vulcanized rubber and to impart it rapid self-healing performance for destructive crack damage. Herein, a novel supramolecular rubber elastomer is prepared by introducing metal coordination between carboxyl-terminated polybutadiene and polystyrene-vinylpyridine copolymer. Based on the metal coordination interaction, the elastomer exhibits shape memory and self-healing properties. Moreover, a rapid closure-repair process of destructive cracks is achieved by presetting temporary shapes. This shape memory-assisted self-repair model is shown to be an effective means for rapid repair of severe cracks. An approach to enhance the mechanical and self-healing properties of elastomer was demonstrated by adding appropriate amounts of oxidized carbon nano-onions (O-CNO) into the system. The tensile strength of the elastomer with an O-CNOs content of 0.5 wt% was restored to 83 ± 10% of the original sample after being repaired at 85 °C for 6 h. This study confirms that metal coordination interaction is an effective method for designing shape memory self-healing rubber elastomer. The shape memory-assisted self-healing effect provides a reference for the rapid self-repairing of severe cracks.

Light-Controlled Triple-Shape-Memory, High-Permittivity Dynamic Elastomer for Wearable Multifunctional Information Encoding Devices

Self-powered information encoding devices (IEDs) have drawn considerable interest owing to their capability to process information without batteries. Next-generation IEDs should be reprogrammable, self-healing, and wearable to satisfy the emerging requirements for multifunctional IEDs; however, such devices have not been demonstrated. Herein, an integrated triboelectric nanogenerator-based IED with the aforementioned features was developed based on the designed light-responsive high-permittivity poly(sebacoyl diglyceride-co-4,4'-azodibenzoyl diglyceride) elastomer (PSeDAE) with a triple-shape-memory effect. The electrical memory feature was achieved through a microscale shape-memory property, enabling spatiotemporal information reprogramming for the IED. Macroscale shape-memory behavior afforded the IED shape-reprogramming ability, yielding wearable and detachable features. The dynamic transesterifications and light-heating groups in the PSeDAE afforded a remotely controlled rearrangement of its cross-linking network, producing the self-healing IED.

Temperature-Sensitive Anti-Inflammatory Organohydrogels Containing Janus Particle Stabilized Phase-Change Microinclusions

A fabrication strategy for multifunctional organohydrogels is proposed, which combines phase-change microinclusions within a double-network (DN) hydrogel under the stabilization of Janus particles. Janus particles possess reactivity and colloidal stability for more robust organohydrogels, while the interstice among Janus particles enhances the mass transfer between the phase interfaces. Moreover, DN hydrogels are achieved through dynamic cross-linking networks, endowing organohydrogels with injectability and self-healing performance. Phase-change microinclusions are beneficial to the organohydrogels with temperature-responsive mechanical property and temperature-programed shape-memory performance. Organohydrogels can be employed for temperature therapy through the melting-crystallization process of phase-change microinclusions. Simultaneously, the payloads within microinclusions can be released for antibacteria upon melting the encapsulated wax. The organohydrogels can be served as an ideal dressing with temperature-responsive mechanical property, temperature therapy effectiveness, and temperature-triggered antibacterial ability.

Environment tolerant, adaptable and stretchable organohydrogels: preparation, optimization, and applications

Multiple stretchable materials have been successively developed and applied to wearable devices, soft robotics, and tissue engineering. Organohydrogels are currently being widely studied and formed by dispersing immiscible hydrophilic/hydrophobic polymer networks or only hydrophilic polymer networks in an organic/water solvent system. In particular, they can not only inherit and carry forward the merits of hydrogels, but also have some unique advantageous features, such as anti-freezing and water retention abilities, solvent resistance, adjustable surface wettability, and shape memory effect, which are conducive to the wide environmental adaptability and intelligent applications. This review first summarizes the structure, preparation strategy, and unique advantages of the reported organohydrogels. Furthermore, organohydrogels can be optimized for electro-mechanical properties or endowed with various functionalities by adding or modifying various functional components owing to their modifiability. Correspondingly, different optimization strategies, mechanisms, and advanced developments are described in detail, mainly involving the mechanical properties, conductivity, adhesion, self-healing properties, and antibacterial properties of organohydrogels. Moreover, the applications of organohydrogels in flexible sensors, energy storage devices, nanogenerators, and biomedicine have been summarized, confirming their unlimited potential in future development. Finally, the existing challenges and future prospects of organohydrogels are provided.

Stiffness Variable Polymers Comprising Phase-Changing Side-Chains: Material Syntheses and Application Explorations

Stiffness variable materials have been applied in a variety of engineering fields that require adaptation, automatic modulation, and morphing because of their unique property to switch between a rigid, load-bearing state and a soft, compliant state. Stiffness variable polymers comprising phase-changing side-chains (s-SVPs) have densely grafted, highly crystallizable long alkyl side-chains in a crosslinked network. Such a bottlebrush network-like structure gives rise to rigidity modulation as a result of the reversible crystallization and melting of the side chains. The corresponding modulus changes can be more than 1000-fold within a narrow temperature span, from ≈10²  MPa to ≈10²  kPa or lower. Other important properties of the s-SVP, such as stretchability, optical transmittance, and adhesion, can also be altered. This work reviews the underlying molecular mechanisms in the s-SVP's, discusses the material's structure-property relationship, and summarizes important applications explored so far, including reversible shape transformation, bistable electromechanical transduction, optical modulation, and reversible adhesion.

Shape and stiffness memory ionogels with programmable pressure-resistance response

Flexible pressure sensors usually require functional materials with both mechanical compliance and appropriate electrical performance. Most sensors based on materials with limited compressibility can hardly balance between high sensitivity and broad pressure range. Here, we prepare a heterophasic ionogel with shape and stiffness memory for adaptive pressure sensors. By combining the microstructure alignment for stiffness changing and shape memory micro-inclusions for stiffness fixing, the heterophasic ionogels reveal tunable compressibility. This controllable pressure-deformation property of the ionogels results in the pressure sensors' programmable pressure-resistance behavior with tunable pressure ranges, varied detection limits, and good resolution at high pressure. Broad pressure ranges to 220 and 380 kPa, and tunable detection limit from 120 to 330 and 950 Pa are realized by the stiffness memory ionogel sensors. Adaptive detection is also brought out to monitor tiny pressure changes at low stiffness and distinguish different human motions at high stiffness. Using shape and stiffness memory materials in pressure sensors is a general design to achieve programmable performance for more complex application scenarios.

Strategies for interface issues and challenges of neural electrodes

Neural electrodes, as a bridge for bidirectional communication between the body and external devices, are crucial means for detecting and controlling nerve activity. The electrodes play a vital role in monitoring the state of neural systems or influencing it to treat disease or restore functions. To achieve high-resolution, safe and long-term stable nerve recording and stimulation, a neural electrode with excellent electrochemical performance (e.g., impedance, charge storage capacity, charge injection limit), and good biocompatibility and stability is required. Here, the charge transfer process in the tissues, the electrode-tissue interfaces and the electrode materials are discussed respectively. Subsequently, the latest research methods and strategies for improving the electrochemical performance and biocompatibility of neural electrodes are reviewed. Finally, the challenges in the development of neural electrodes are proposed. It is expected that the development of neural electrodes will offer new opportunities for the evolution of neural prosthesis, bioelectronic medicine, brain science, and so on.

Multistimuli-Responsive and Antifreeze Aggregation-Induced Emission-Active Gels Based on CuNCs

Multistimuli-responsive fluorescent gelsbased small molecular gelator by supramolecular assembly, possessing excellent dynamic and reversible characteristic, have caused much concern. In this article, aggregation-induced emission-active fluorescence gels (AIE-gels) with chirality were developed by combining Cu nanoclusters (CuNCs) and natural amino acids, l-tryptophan (l-Trp) or d-Tryptophan (d-Trp). In DMSO/H₂O mixed solvents, CuNCs can self-assemble to form intertwined fibersbased nanoparticles with numerous pores by introducing Zn²⁺. Fibers as second networks of heteronetwork structures are characterized with the participation of l-Trp or d-Trp for cross-linking to reinforce mechanical strength and chiral regulation of gel networks. Aggregation-induced emission enhancement (AIEE) of CuNCs endows the gels with excellent fluorescent properties by introducing solvents and gelation process. The fluorescent gels exhibit sufficient fluorescence intensity (FI) at -20 °C to -80 °C and possess sensitive responsibility including gel-sol transition and fluorescence behavior for stimuli of mechanical force, heating, pH, H₂O₂, and ethylene diamine tetraacetic acid (EDTA).

Photo-Dissociable Fe3+-Carboxylate Coordination: A General Approach toward Hydrogels with Shape Programming and Active Morphing Functionalities

An extendable double network design for hydrogels with programmable external geometries and actuating trajectories is presented. Chemically cross-linked polyacrylamide as the first network penetrated with linear alginate chains is prepared for demonstration. The coordination of Fe³⁺ ions with carboxylate groups in alginate chains acts as the second network, and its dissociation through photoreduction is utilized to realize the photoresponsive shape memory property; the shape fixity ratio and shape recovery ratio both exceed 90%. The gradient dissociation of Fe³⁺-carboxylate coordination under UV facilitates 3D programming of hydrogel geometry. On another aspect, the resulted cross-linking gradient differentiates the extent and rate of solvent-induced volume change of the PAAm network, endowing the hydrogel with photo-programmable solvent-driven actuating behavior. Furthermore, by inducing the formation of Fe³⁺-carboxylate coordination within the entire network for shape programming and cross-linking gradients in specific regions as active joints, hydrogels with designed actuating behaviors based on specific 3D shapes are realized. The shape memory and active morphing functionalities enabled by photo-dissociable Fe³⁺-carboxylate coordination in PAAm hydrogel can be generally extended to other hydrogels.

Differential diffusion driven far-from-equilibrium shape-shifting of hydrogels

Far-from-equilibrium (FFE) conditions give rise to many unusual phenomena in nature. In contrast, synthetic shape-shifting materials typically rely on monotonic evolution between equilibrium states, limiting inherently the richness of the shape-shifting behaviors. Here we report an unanticipated shape-shifting behavior for a hydrogel that can be programmed to operate FFE-like behavior. During its temperature triggered shape-shifting event, the programmed stress induces uneven water diffusion, which pushes the hydrogel off the equilibrium based natural pathway. The resulting geometric change enhances the diffusion contrast in return, creating a self-amplifying sequence that drives the system into an FFE condition. Consequently, the hydrogel exhibits counterintuitive two opposite shape-shifting events under one single stimulation, at a speed accelerated by more than one order magnitude. Our discovery points to a future direction in creating FFE conditions to access otherwise unattainable shape-shifting behaviors, with potential implications for many engineering applications including soft robotics and medical devices.

Synthetic shape-shifting materials typically rely on monotonic evolution between equilibrium states, limiting the shape-shifting behaviours. Here the authors report an unanticipated shape-shifting behaviour for a hydrogel that can be programmed to operate via a far-from-equilibrium mechanism.

Liquid Crystalline Hydrogel with Thermally Induced Reversible Shape Change and Water-Triggered Shape Memory

Liquid crystalline hydrogel (LCH) is synthesized through simultaneous polymerization of hydrophobic and hydrophilic monomers in an oil-in-water emulsion, resulting in phase-separated liquid crystalline network (LCN) embedded in a hydrogel matrix. This material features some properties and functions of both LCN and hydrogel, displaying stable LC phase over repeated hydration and dehydration cycles of the hydrogel matrix. Using mechanically stretched and photocrosslinked LCH, the thermally induced LC-isotropic phase transition in LCN domains can be translated into reversible macroscopic deformation of the LCH. Moreover, the LCH exhibits water absorption-controlled shape memory effect.

Aggregation-Induced Emissive Carbon Dots Gels for Octopus-Inspired Shape/Color Synergistically Adjustable Actuators

Some living organisms such as the octopus have fantastic abilities to simultaneously swim away and alter body color/morphology for disguise and self-protection, especially when there is a threat perception. However, it is still quite challenging to construct artificial soft actuators with octopus-like synergistic shape/color change and directional locomotion behaviors, but such systems could enhance the functions of soft robotics dramatically. Herein, we proposed to utilize unique hydrophobic carbon dots (CDs) with rotatable surficial groups to construct the aggregation-induced emission (AIE) active glycol CDs polymer gel, which could be further employed to be interfacially bonded to an elastomer to produce anisotropic bilayer soft actuator. When putting the actuator on a water surface, glycol spontaneously diffused out from the gel layer to allow water intake, resulting in a color change from a blue dispersion fluorescence to red AIE and a shape deformation, as well as a large surface tension gradient that can promote its autonomous locomotion. Based on these findings, artificial soft swimming robots with octopus-like synergistic shape/color change and directional swimming motion were demonstrated. This study provides an elegant strategy to develop advanced multi-functional bio-inspired intelligent soft robotics.

Dual-Encryption in a Shape-Memory Hydrogel with Tunable Fluorescence and Reconfigurable Architecture

Materials capable of shape-morphing and/or fluorescence imaging have practical significances in the fields of anti-counterfeiting, information display, and information protection. However, it's challenging to realize these functions in hydrogels due to the poor mechanical properties and lack of tunable fluorescence. A tough hydrogel with good shape-memory ability and phototunable fluorescence is reported here, which affords reprogrammable shape designing and information encoding for dual-encryption. This hydrogel is prepared by incorporating donor-acceptor chromophore units into a poly(1-vinylimidazole-co-methacrylic acid) network, in which the dense intra- and interchain hydrogen bonds lead to desirable features including high stiffness, high toughness, and temperature-mediated shape-memory property. Additionally, the hydrogel shows photomediated tunable fluorescence through a unimer-to-dimer transformation of the chromophores. By combining photolithography and origami/kirigami designs, hydrogel sheets encoded with fluorescent patterns can deform into specific 3D configurations. The geometrically encrypted fluorescent information in the architected hydrogels is readable only after sequential shape recovery and UV light irradiation. As demonstrated by proof-of-concept experiments, both the fluorescent pattern and the 3D configuration are reprogrammable, facilitating repeated information protection and display. The design of tough hydrogels with rewritable fluorescent patterns and reconfigurable shapes should guide the future development of smart materials with improved security and wider applications in aqueous environments.

Gelator-Enhanced Organohydrogels with Switchable Mechanics and High-Strain Shape-Memory Capacity

Hydrogels and organogels, as two crucial representatives of soft materials, have attracted immense interest. However, they develop independently along two parallel lines, and these gels with single networks have their inherent drawbacks. For example, hydrogels tend to freeze, and organogels are usually brittle. Herein, organogels were incorporated into a hydrogel matrix for the synthesis of organohydrogels GOHs through polymerization in Pickering emulsion. The rigid organogel domains contribute to enhancing the strength of organohydrogels. Besides this, the organogels derived from 12-HAS self-assembly behavior exhibit a gel-sol transition when the temperature reaches 70 °C, thus leading to a thermo-softening behavior in the GOHs. Due to the phase transition of organogel domains and the elastic hydrogel network, the resultant organohydrogels demonstrate high-strain shape-memory performance (over 1000%) which could help achieve full recovery in seconds. Consequently, GOHs are endowed with the potential of practical application in soft robots, wearable devices, and biological materials.

Bioinspired organohydrogels with heterostructures: Fabrications, performances, and applications

Since emerging in 1960, the artificial hydrogels have garnered enormous attentions in scientific community due to their high level of similarities to biological soft tissues in both structures and properties. With the proceeding of research, the concern of hydrogels is gradually shifted from fundamental investigation to abundant functionalization. In contrast to the natural soft tissues, the current artificial hydrogels still possess relatively simple structures and unsatisfactory environmental adaptability, extremely limiting their practical applications in complex environments. Enlightened by the prominent adaptability of biological organisms, the binary cooperative complementary principle is utilized to develop bioinspired organohydrogels by combining two components with opposite but cooperative physiochemical features. The present review provides the advanced progresses of bioinspired organohydrogels with sophisticated heterogeneous networks and desirably environmental adaptabilities. We clearly summarize the synthesizing strategies in regard to both corresponding mechanisms and typical examples, including macroscopic organohydrogels, organohydrogels with binary solvent, organohydrogels with heteronetworks, and emulsion-based organohydrogels. Meanwhile, the intriguing features of the reported organohydrogels, such as temperature resistance, switchable mechanics, adaptive wettability, and opposite components compatibility, are also clearly highlighted with a short overview of their promising applications. Ultimately, the current challenges and perspectives on the future development of bioinspired organohydrogels are also discussed.

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.

Adjustable dual temperature-sensitive hydrogel based on a self-assembly cross-linking strategy with highly stretchable and healable properties

Developing smart temperature-sensitive hydrogels with a wide response range and highly stretchable and healable properties for simulation of the temperature perception function of human skin remains a great challenge. Here, a novel PNIPAm/PNAGA double-network hydrogel was developed by a self-assembly cross-linking strategy to achieve this goal. Benefiting from the double-network structure and a large number of multiple hydrogen bond interactions between the PNIPAm and PNAGA, the PNIPAm/PNAGA hydrogel realizes wide and adjustable dual temperature response behaviors of 0-32.5 °C (LCST) and 32.5-65 °C (UCST) and exhibits extraordinary mechanical properties with a maximum tensile strength of 51.48 kPa, elongation at break over 1400%, compressive stress over 1 MPa, and Young's modulus approximately 5.51 kPa, and excellent healable properties of nearly 100% temperature-sensitive repair rate. To the best of our knowledge, this is the highest mechanical strength of the reported PNIPNm-based dual temperature-sensitive hydrogels and simultaneously achieved the healable performance of dual temperature-sensitive hydrogels for the first time. The PNIPAm/PNAGA hydrogel displayed superior capability for simulation of the human skin to monitor various ambient temperatures, such as human skin temperature, hot and cold water, a refrigerator, room temperature and oven temperature, indicating promising applications in the fields of electronic skin, wearable device, bionics, etc.

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.

Tough Interfacial Adhesion of Bilayer Hydrogels with Integrated Shape Memory and Elastic Properties for Controlled Shape Deformation

The weak adhesion between two hydrogel layers may lead to the delamination of bilayer hydrogels or low force transfer efficiency during deformation. Here, tough interfacial adhesive bilayer hydrogels with rapid shape deformation and recovery were prepared by simple attachment-heating of two gel layers. The bilayer hydrogels, composed of a shape memory gel (S-gel) and an elastic gel (E-gel), exhibited extremely tough interfacial adhesion between two layers (Γ ∼ 2200 J/m²). The shape deformation and shape recovery of the bilayer hydrogels, tuned by "heating-stretching" mode and "stretching-heating-stretching" mode, were rapid (<5 s) and no delamination between two gel layers was detected during shape deformation. Based on the fast shape deformation and recovery, the bilayer hydrogels could mimic the flower and hand, and a gel gripper could be fabricated to catch the object in the hot water. This work provides a simple method to prepare tough adhesive bilayer hydrogels with controlled shape deformation.

A pH controlled temperature response reprogramming hydrogel for monitoring human electrophysiological signals

This study proposes a simple method to prepare a pH-responsive and shape memory hydrogel based on cooperative hydrophobic interaction and hydrogen bonding. Acryloyl 11-aminoundecanoic acid (A11AUA) and acrylamide were selected as hydrophobic monomers and hydrophilic monomers, respectively. The mechanical properties of the prepared hydrogel strongly depend on the pH. Under acidic conditions, the maximum tensile strength of the hydrogel can reach 7.8 MPa, and the tensile modulus of the hydrogel can be increased by more than 10 000 times. The mechanical properties of acidic gels are affected by temperature and exhibit a temperature-controlled shape memory function. The acidic gel is immersed in NaOH and HCl solutions in sequence to achieve the function of reprogramming. Hydrogels under alkaline and neutral conditions exhibit conductivity and adhesion properties controlled by pH. Using the hydrogel as an adhesive electrode, the performance of the hydrogel in monitoring human electrophysiological signals was discussed.

Programmable Deformations of Biomimetic Composite Hydrogels Embedded with Printed Fibers

Shape deformations are prevalent in nature, which are closely related to the heterogeneous structures with a feature of fibrous elements embedded in a matrix. The microfibers with specific orientations act as either passive geometrical constraints in an active matrix or active elements in a passive matrix, which generate programmed internal stresses and drive shape morphing under external stimuli. Morphing materials can be designed in a biomimetic way, yet it is challenging to fabricate composite hydrogels with well-distributed fibers by a facile strategy. Here, we demonstrate the fabrication of microfiber-embedded hydrogels facilitated by the extrusion-based printing technology. Programmed deformations are achieved in these hydrogels with microfibers distributed in the upper and/or bottom layers of the gel matrix. Under external stimuli, the microfibers and the gel matrix have different responses that produce internal stresses and result in programmable deformations of the composite gel. Multiple shape transformations are realized in the hydrogel by embedding multiple types of responsive microfibers in the passive or active matrix, which is fabricated with the assistance of multinozzle printing. A soft hook is designed to show the capacity of the composite hydrogel to hold and move an object in a saline solution. This facile and versatile strategy provides an alternative way to prepare biomimetic hydrogels with potential applications in biomedical devices, flexible electronics, and soft robots.

Fast photothermal poly(NIPAM-co-β-cyclodextrin) supramolecular hydrogel with self-healing through host-guest interaction for intelligent light-controlled switches

A graphene oxide/poly(N-isopropylacrylamide-co-β-cyclodextrin) (GO/poly(NIPAM-co-β-CD)) hydrogel has been synthesized through host-guest interaction between β-cyclodextrin (β-CD) and the isopropyl group of N-isopropylacrylamide (NIPAM). The product exhibits rapid responses to the stimuli of temperature and near-infrared (NIR) irradiation, self-healing properties, and excellent mechanical properties. The host-guest interaction serves as the main physical cross-linker, while a hydrogen bond between the hydroxyl group of β-CD, GO sheets and amide group of NIPAM acts as a secondary cross-linker. The volume phase transition temperature and NIR response rate of such a hydrogel are controlled by its contents of β-CD and GO. The obtained hydrogels showing excellent properties might be applied in remote contactless control devices in advanced smart technologies. Based on the excellent characteristics of the hydrogels, remote light-controlled switches have been designed, and more applications will be explored, such as intelligent light-controlled drivers and soft robots.

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.

Shape-adaptable biodevices for wearable and implantable applications

Emerging wearable and implantable biodevices have been significantly revolutionizing the diagnosis and treatment of disease. However, the geometrical mismatch between tissues and biodevices remains a great challenge for achieving optimal performances and functionalities for biodevices. Shape-adaptable biodevices enabling active compliance with human body tissues offer promising opportunities for addressing the challenge through programming their geometries on demand. This article reviews the design principles and control strategies for shape-adaptable biodevices with programmable shapes and actively compliant capabilities, which have offered innovative diagnostic/therapeutic tools and facilitated a variety of wearable and implantable applications. The state-of-the-art progress in applications of shape-adaptable biodevices in the fields of smart textiles, wound care, healthcare monitoring, drug and cell delivery, tissue repair and regeneration, nerve stimulation and recording, and biopsy and surgery, is highlighted. Despite the remarkable advances already made, shape-adaptable biodevices still confront many challenges on the road toward the clinic, such as enhanced intelligence for actively sensing and operating in response to physiological environments. Next-generation paradigms will shed light on future directions for extending the breadth and performance of shape-adaptable biodevices for wearable and implantable applications.

Equipment-free photothermal effect promoted self-healing and self-recovery of hydrogels

The self-healing and self-recovery of the hydrogel materials can be promoted under sunlight without the assistance of electrical equipment by adding a light-to-heat conversion substance during the synthetic process, which will greatly extend the service life of the hydrogels even for the elastomer materials in the off-grid areas.

Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics

There is ever-increasing interest yet grand challenge in developing programmable untethered soft robotics. Here we address this challenge by applying the asymmetric elastoplasticity of stacked graphene assembly (SGA) under tension and compression. We transfer the SGA onto a polyethylene (PE) film, the resulting SGA/PE bilayer exhibits swift morphing behavior in response to the variation of the surrounding temperature. With the applications of patterned SGA and/or localized tempering pretreatment, the initial configurations of such thermal-induced morphing systems can also be programmed as needed, resulting in diverse actuation systems with sophisticated three-dimensional structures. More importantly, unlike the normal bilayer actuators, our SGA/PE bilayer, after a constrained tempering process, will spontaneously curl into a roll, which can achieve rolling locomotion under infrared lighting, yielding an untethered light-driven motor. The asymmetric elastoplasticity of SGA endows the SGA-based bi-materials with great application promise in developing untethered soft robotics with high configurational programmability.

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.

Programmable Reversible Shape Transformation of Hydrogels Based on Transient Structural Anisotropy

Stimuli-responsive shape-transforming hydrogels have shown great potential toward various engineering applications including soft robotics and microfluidics. Despite significant progress in designing hydrogels with ever more sophisticated shape-morphing behaviors, an ultimate goal yet to be fulfilled is programmable reversible shape transformation. It is reported here that transient structural anisotropy can be programmed into copolymer hydrogels of N-isopropylacrylamide and stearyl acrylate. Structural anisotropy arises from the deformed hydrophobic domains of the stearyl groups after thermomechanical programming, which serves as a template for the reversible globule-to-coil transition of the poly(N-isopropylacrylamide) chains. The structural anisotropy is transient and can be erased upon cooling. This allows repeated programming for reversible shape transformation, an unknown feature for the current hydrogels. The programmable reversible transformation is expected to greatly extend the technical scope for hydrogel-based devices.

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.

Nanofibrillar Poly(vinyl alcohol) Ionic Organohydrogels for Smart Contact Lens and Human-Interactive Sensing

Hydrogel bioelectronics as one of the next-generation wearable and implantable electronics ensures excellent biocompatibility and softness to link the human body and electronics. However, volatile, opaque, and fragile features of hydrogels due to the sparse and microscale three-dimensional network seriously limit their practical applications. Here, we report a type of smart and robust nanofibrillar poly(vinyl alcohol) (PVA) organohydrogels fabricated via one-step physical cross-linking. The nanofibrillar network cross-linked by numerous PVA nanocrystallites enables the formation of organohydrogels with high transparency (90%), drying resistance, high toughness (3.2 MJ/m³), and tensile strength (1.4 MPa). For strain sensor application, the PVA ionic organohydrogel after soaking in NaCl solution shows excellent linear sensitivity (GF = 1.56, R² > 0.998) owing to the homogeneous nanofibrillar PVA network. We demonstrate the potential applications of the nanofibrillar PVA-based organohydrogel in smart contact lens and emotion recognition. Such a strategy paves an effective way to fabricate strong, tough, biocompatible, and ionically conductive organohydrogels, shedding light on multifunctional sensing applications in next-generation flexible bioelectronics.

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.