3D Printing Materials for Soft Robotics

Design-encoded dual shape-morphing and shape-memory in 4D printed polymer parts toward cellularized vascular grafts

Current additive manufacturing technologies wherein as-printed simple two-dimensional (2D) structures morph into complex tissue mimetic three-dimensional (3D) shapes are limited to multi-material hydrogel systems, which necessitates multiple fabrication steps and specific materials. This work utilizes a single shape memory thermoplastic polymer (SMP), PLMC (polylactide-co-trimethylene carbonate), to achieve programmable shape deformation through anisotropic design and infill angles encoded during 3D printing. The shape changes were first computationally predicted through finite element analysis (FEA) simulations and then experimentally validated through quantitative correlation. Rectangular 2D sheets could self-roll into complete hollow tubes of specific diameters (ranging from ≈6 mm to ≈10 mm) and lengths (as long as 40 mm), as quantitatively predicted from FEA simulations within one minute at relatively lower temperatures (≈80 °C). Furthermore, shape memory properties were demonstrated post-shape change to exhibit dual shape morphing at temperatures close to physiological levels. The tubes (retained as the permanent shape) were deformed into flat sheets (temporary shape), seeded with endothelial cells (at T < Tg), and thereafter triggered at ≈37 °C back into tubes (permanent shape), utilizing the shape memory properties to yield bioresorbable tubes with cellularized lumens for potential use as vascular grafts with improved long-term patency. Additionally, out-of-plane bending and twisting deformation were demonstrated in complex structures by careful control of infill angles that can unprecedently expand the scope of cellularized biomimetic 3D shapes. This work demonstrates the potential of the combination of shape morphing and SMP behaviors at physiological temperatures to yield next-generation smart implants with precise control over dimensions for tissue repair and regeneration.

4D Multimaterial Printing of Soft Actuators with Spatial and Temporal Control

Soft actuators (SAs) are devices which can interact with delicate objects in a manner not achievable with traditional robotics. While it is possible to design a SA whose actuation is triggered via an external stimulus, the use of a single stimulus creates challenges in the spatial and temporal control of the actuation. Herein, a 4D printed multimaterial soft actuator design (MMSA) whose actuation is only initiated by a combination of triggers (i.e., pH and temperature) is presented. Using 3D printing, a multilayered soft actuator with a hydrophilic pH-sensitive layer, and a hydrophobic magnetic and temperature-responsive shape-memory polymer layer, is designed. The hydrogel responds to environmental pH conditions by swelling or shrinking, while the shape-memory polymer can resist the shape deformation of the hydrogel until triggered by temperature or light. The combination of these stimuli-responsive layers allows for a high level of spatiotemporal control of the actuation. The utility of the 4D MMSA is demonstrated via a series of cargo capture and release experiments, validating its ability to demonstrate active spatiotemporal control. The MMSA concept provides a promising research direction to develop multifunctional soft devices with potential applications in biomedical engineering and environmental engineering.

Recent Research on Preparation and Application of Smart Joule Heating Fabrics

Multifunctional wearable heaters have attracted much attention for their effective applications in personal thermal management and medical therapy. Compared to passive heating, Joule heating offers significant advantages in terms of reusability, reliable temperature control, and versatile coupling. Joule-heated fabrics make wearable electronics smarter. This review critically discusses recent advances in Joule-heated smart fabrics, focusing on various fabrication strategies based on material-structure synergy. Specifically, various applicable conductive materials with Joule heating effect are first summarized. Subsequently, different preparation methods for Joule heating fabrics are compared, and then their various applications in smart clothing, healthcare, and visual indication are discussed. Finally, the challenges faced in developing these smart Joule heating fabrics and their possible solutions are discussed.

Multiple physical crosslinked highly adhesive and conductive hydrogels for human motion and electrophysiological signal monitoring

Hydrogel-based flexible electronic devices serve as a next-generation bridge for human-machine interaction and find extensive applications in clinical therapy, military equipment, and wearable devices. However, the mechanical mismatch between hydrogels and human tissues, coupled with the failure of conformal interfaces, hinders the transmission of information between living organisms and flexible devices, which resulted in the instability and low fidelity of signals, especially in the acquisition of electromyographic (EMG) and electrocardiographic (ECG) signals. In this study, we designed an ion-conductive hydrogel (ICHgel) utilizing multiple physical interactions, successfully applied for human motion monitoring and the collection of epidermal physiological signals. By incorporating fumed silica (F-SiO2) nanoparticles and calcium chloride into an interpenetrating network (IPN) composed of polyvinyl alcohol (PVA) and polyacrylamide (AAm)/acrylic acid (AA) chains, the ICHgel exhibited exceptional tunable stretchability (>1450% strain) and conductivity (10.58 ± 0.85 S m-1). Additionally, the outstanding adhesion of the ICHgel proved to be a critical factor for effective communication between epidermal tissues and flexible devices. Demonstrating its capability to acquire stable electromechanical signals, the ICHgel was attached to different parts of the human body. More importantly, as a flexible electrode, the ICHgel outperformed commercial Ag/AgCl electrodes in the collection of ECG and EMG signals. In summary, the synthesized ICHgel with its outstanding conformal interface capabilities and mechanical adaptability paves the way for enhanced human-machine interaction, fostering the development of flexible electronic devices.

Integrated Actuation and Sensing: Toward Intelligent Soft Robots

Soft robotics has received substantial attention due to its remarkable deformability, making it well-suited for a wide range of applications in complex environments, such as medicine, rescue operations, and exploration. Within this domain, the interaction of actuation and sensing is of utmost importance for controlling the movements and functions of soft robots. Nonetheless, current research predominantly focuses on isolated actuation and sensing capabilities, often neglecting the critical integration of these 2 domains to achieve intelligent functionality. In this review, we present a comprehensive survey of fundamental actuation strategies and multimodal actuation while also delving into advancements in proprioceptive and haptic sensing and their fusion. We emphasize the importance of integrating actuation and sensing in soft robotics, presenting 3 integration methodologies, namely, sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. Furthermore, we highlight the challenges in the field and suggest compelling directions for future research. Through this comprehensive synthesis, we aim to stimulate further curiosity among researchers and contribute to the development of genuinely intelligent soft robots.

Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications

The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.

3D Printing of Double Network Granular Elastomers with Locally Varying Mechanical Properties

Fast advances in the design of soft actuators and robots demand for new soft materials whose mechanical properties can be changed over short length scales. Elastomers can be formulated as highly stretchable or rather stiff materials and hence, are attractive for these applications. They are most frequently cast such that their composition cannot be changed over short length scales. A method that allows to locally change the composition of elastomers on hundreds of micrometer lengths scales is direct ink writing (DIW). Unfortunately, in the absence of rheomodifiers, most elastomer precursors cannot be printed through DIW. Here, 3D printable double network granular elastomers (DNGEs) whose ultimate tensile strain and stiffness can be varied over an unprecedented range are introduced. The 3D printability of these materials is leveraged to produce an elastomer finger containing rigid bones that are surrounded by a soft skin. Similarly, the rheological properties of the microparticle-based precursors are leveraged to cast elastomer slabs with locally varying stiffnesses that deform and twist in a predefined fashion. These DNGEs are foreseen to open up new avenues in the design of the next generation of smart wearables, strain sensors, prosthesis, soft actuators, and robots.

Melt electrowriting enabled 3D liquid crystal elastomer structures for cross-scale actuators and temperature field sensors

Liquid crystal elastomers (LCEs) have garnered attention for their remarkable reversible strains under various stimuli. Early studies on LCEs mainly focused on basic dimensional changes in macrostructures or quasi-three-dimensional (3D) microstructures. However, fabricating complex 3D microstructures and cross-scale LCE-based structures has remained challenging. In this study, we report a compatible method named melt electrowriting (MEW) to fabricate LCE-based microfiber actuators and various 3D actuators on the micrometer to centimeter scales. By controlling printing parameters, these actuators were fabricated with high resolutions (4.5 to 60 μm), actuation strains (10 to 55%), and a maximum work density of 160 J/kg. In addition, through the integration of a deep learning-based model, we demonstrated the application of LCE materials in temperature field sensing. Large-scale, real-time, LCE grid-based spatial temperature field sensors have been designed, exhibiting a low response time of less than 42 ms and a high precision of 94.79%.

Exploring the Potentials of Chitin and Chitosan-Based Bioinks for 3D-Printing of Flexible Electronics: The Future of Sustainable Bioelectronics

Chitin and chitosan-based bioink for 3D-printed flexible electronics have tremendous potential for innovation in healthcare, agriculture, the environment, and industry. This biomaterial is suitable for 3D printing because it is highly stretchable, super-flexible, affordable, ultrathin, and lightweight. Owing to its ease of use, on-demand manufacturing, accurate and regulated deposition, and versatility with flexible and soft functional materials, 3D printing has revolutionized free-form construction and end-user customization. This study examined the potential of employing chitin and chitosan-based bioinks to build 3D-printed flexible electronic devices and optimize bioink formulation, printing parameters, and postprocessing processes to improve mechanical and electrical properties. The exploration of 3D-printed chitin and chitosan-based flexible bioelectronics will open new avenues for new flexible materials for numerous industrial applications.

Manufacturing 3D Biomimetic Tissue: A Strategy Involving the Integration of Electrospun Nanofibers with a 3D-Printed Framework for Enhanced Tissue Regeneration

3D printing and electrospinning are versatile techniques employed to produce 3D structures, such as scaffolds and ultrathin fibers, facilitating the creation of a cellular microenvironment in vitro. These two approaches operate on distinct working principles and utilize different polymeric materials to generate the desired structure. This review provides an extensive overview of these techniques and their potential roles in biomedical applications. Despite their potential role in fabricating complex structures, each technique has its own limitations. Electrospun fibers may have ambiguous geometry, while 3D-printed constructs may exhibit poor resolution with limited mechanical complexity. Consequently, the integration of electrospinning and 3D-printing methods may be explored to maximize the benefits and overcome the individual limitations of these techniques. This review highlights recent advancements in combined techniques for generating structures with controlled porosities on the micro-nano scale, leading to improved mechanical structural integrity. Collectively, these techniques also allow the fabrication of nature-inspired structures, contributing to a paradigm shift in research and technology. Finally, the review concludes by examining the advantages, disadvantages, and future outlooks of existing technologies in addressing challenges and exploring potential opportunities.

Kinematics, dynamics and control of stiffness-tunable soft robots

Modeling and control methods for stiffness-tunable soft robots (STSRs) have received less attention compared to standard soft robots. A major challenge in controlling STSRs is their infinite degrees of freedom, similar to standard soft robots. In this paper, demonstrate a novel STSR by combing a soft-rigid hybrid spine-mimicking actuator with a stiffness-tunable module. Additionally, we introduce a new kinematic and dynamic modeling methodology for the proposed STSR. Based on the STSR characteristics, we model it as a series of PRP segments, each composed of two prismatic joints(P) and one revolute joint(R). This method is simpler, more generalizable, and more computationally efficient than existing approaches. We also design a multi-input multi-output (MIMO) controller that directly adjusts the pressure of the STSR's three pneumatic chambers to precisely control its posture. Both the novel modeling methodology and MIMO control system are implemented and validated on the proposed STSR prototype.

Elastic/viscoelastic polymer bilayers: a model-based approach to stretch-responsive constructs

The use of polymers in the fabrication of bilayers for stimuli-responsive systems is well-known, yet viscoelasticity and viscoelastic models representing bilayer behavior have received surprisingly little attention. Of particular recent interest to us are simple polymeric bilayers in which one material, such as styrene-ethylene-propylene-styrene (SEPS) or styrene-isobutylene-styrene (SIBS), shows typical rubbery elastic response upon extension and retraction, and the other, an unvulcanized, low-Tg polymer such as butyl rubber (butyl), exhibits a viscoelastic response. When such a bilayer strip is extended to a fixed strain and held for several seconds followed by sudden release of this strain, rapid curling is observed, achieving a maximum curvature within 1 second, with a gradual uncurling, typically taking 300-600 seconds to eventually return to a flat strip. Attention has been directed to modeling the observed bilayer behavior. We compare predicted curvature and relaxation time constants from finite element analysis (FEA) simulations using Maxwell, Zener, Generalized Maxwell, and Parallel Rheological Framework (PRF) viscoelastic models to the experimentally measured values. We find that the Generalized Maxwell model predicts curvature over time with the lowest overall mean absolute scaled error (MASE) of 0.519, corresponding to a 4.9% difference from the second lowest error model and a 76.8% difference from the highest error model. Building upon an understanding of the material mechanics in simple bilayer strips, more complex bilayer systems can be designed. Samples of cross and weave geometries were fabricated from bilayer films and initial testing demonstrates how these materials can be used in potential applications.

Artificial Neuron Devices

Efforts to design devices emulating complex cognitive abilities and response processes of biological systems have long been a coveted goal. Recent advancements in flexible electronics, mirroring human tissue's mechanical properties, hold significant promise. Artificial neuron devices, hinging on flexible artificial synapses, bioinspired sensors, and actuators, are meticulously engineered to mimic the biological systems. However, this field is in its infancy, requiring substantial groundwork to achieve autonomous systems with intelligent feedback, adaptability, and tangible problem-solving capabilities. This review provides a comprehensive overview of recent advancements in artificial neuron devices. It starts with fundamental principles of artificial synaptic devices and explores artificial sensory systems, integrating artificial synapses and bioinspired sensors to replicate all five human senses. A systematic presentation of artificial nervous systems follows, designed to emulate fundamental human nervous system functions. The review also discusses potential applications and outlines existing challenges, offering insights into future prospects. We aim for this review to illuminate the burgeoning field of artificial neuron devices, inspiring further innovation in this captivating area of research.

Direct-Ink-Writing 3D-Printed Bioelectronics

The development of wearable and implantable bioelectronics has garnered significant momentum in recent years, driven by the ever-increasing demand for personalized health monitoring, remote patient management, and real-time physiological data collection. The elevated sophistication and advancement of these devices have thus led to the use of many new and unconventional materials which cannot be fulfilled through traditional manufacturing techniques. Three-dimension (3D) printing, also known as additive manufacturing, is an emerging technology that opens new opportunities to fabricate next-generation bioelectronic devices. Some significant advantages include its capacity for material versatility and design freedom, rapid prototyping, and manufacturing efficiency with enhanced capabilities. This review provides an overview of the recent advances in 3D printing of bioelectronics, particularly direct ink writing (DIW), encompassing the methodologies, materials, and applications that have emerged in this rapidly evolving field. This review showcases the broad range of bioelectronic devices fabricated through 3D printing including wearable biophysical sensors, biochemical sensors, electrophysiological sensors, energy devices, multimodal systems, implantable devices, and soft robots. This review will also discuss the advantages, existing challenges, and outlook of applying DIW 3D printing for the development of bioelectronic devices toward healthcare applications.

Fabrication and Applications of Magnetic Polymer Composites for Soft Robotics

The emergence of magnetic polymer composites has had a transformative impact on the field of soft robotics. This overview will examine the various methods by which innovative materials can be synthesized and utilized. The advancement of soft robotic systems has been significantly enhanced by the utilization of magnetic polymer composites, which amalgamate the pliability of polymers with the reactivity of magnetic materials. This study extensively examines the production methodologies involved in dispersing magnetic particles within polymer matrices and controlling their spatial distribution. The objective is to gain insights into the strategies required to attain the desired mechanical and magnetic properties. Additionally, this study delves into the potential applications of these composites in the field of soft robotics, encompassing various devices such as soft actuators, grippers, and wearable gadgets. The study emphasizes the transformative capabilities of magnetic polymer composites, which offer a novel framework for the advancement of biocompatible, versatile soft robotic systems that utilize magnetic actuation.

3D/4D printing of cellulose nanocrystals-based biomaterials: Additives for sustainable applications

Cellulose nanocrystals (CNCs) have gained significant attraction from both industrial and academic sectors, thanks to their biodegradability, non-toxicity, and renewability with remarkable mechanical characteristics. Desirable mechanical characteristics of CNCs include high stiffness, high strength, excellent flexibility, and large surface-to-volume ratio. Additionally, the mechanical properties of CNCs can be tailored through chemical modifications for high-end applications including tissue engineering, actuating, and biomedical. Modern manufacturing methods including 3D/4D printing are highly advantageous for developing sophisticated and intricate geometries. This review highlights the major developments of additive manufactured CNCs, which promote sustainable solutions across a wide range of applications. Additionally, this contribution also presents current challenges and future research directions of CNC-based composites developed through 3D/4D printing techniques for myriad engineering sectors including tissue engineering, wound healing, wearable electronics, robotics, and anti-counterfeiting applications. Overall, this review will greatly help research scientists from chemistry, materials, biomedicine, and other disciplines to comprehend the underlying principles, mechanical properties, and applications of additively manufactured CNC-based structures.

Crossover of surface waves and capillary-viscous-elastic transition in soft biomaterials detected by resonant acoustic rheometry

Viscoelastic properties of hydrogels are important for their application in science and industry. However, rheological assessment of soft hydrogel biomaterials is challenging due to their complex, rapid, and often time-dependent behaviors. Resonant acoustic rheometry (RAR) is a newly developed technique capable of inducing and measuring resonant surface waves in samples in a non-contact fashion. By applying RAR at high temporal resolution during thrombin-induced fibrin gelation and ultraviolet-initiated polyethylene glycol (PEG) polymerization, we observed distinct changes in both frequency and amplitude of the resonant surface waves as the materials changed over time. RAR detected a series of capillary-elastic, capillary-viscous, and visco-elastic transitions that are uniquely manifested as crossover of different types of surface waves in the temporally evolving materials. These results reveal the dynamic interplay of surface tension, viscosity, and elasticity that is controlled by the kinetics of polymerization and crosslinking during hydrogel formation. RAR overcomes many limitations of conventional rheological approaches by offering a new way to comprehensively and longitudinally characterize soft materials during dynamic processes.

Vision-controlled jetting for composite systems and robots

Recreating complex structures and functions of natural organisms in a synthetic form is a long-standing goal for humanity1. The aim is to create actuated systems with high spatial resolutions and complex material arrangements that range from elastic to rigid. Traditional manufacturing processes struggle to fabricate such complex systems2. It remains an open challenge to fabricate functional systems automatically and quickly with a wide range of elastic properties, resolutions, and integrated actuation and sensing channels2,3. We propose an inkjet deposition process called vision-controlled jetting that can create complex systems and robots. Hereby, a scanning system captures the three-dimensional print geometry and enables a digital feedback loop, which eliminates the need for mechanical planarizers. This contactless process allows us to use continuously curing chemistries and, therefore, print a broader range of material families and elastic moduli. The advances in material properties are characterized by standardized tests comparing our printed materials to the state-of-the-art. We directly fabricated a wide range of complex high-resolution composite systems and robots: tendon-driven hands, pneumatically actuated walking manipulators, pumps that mimic a heart and metamaterial structures. Our approach provides an automated, scalable, high-throughput process to manufacture high-resolution, functional multimaterial systems.

3D printing stretchable and compressible porous structures by polymerizable emulsions for soft robotics

UV-curable 3D printing compositions for the fabrication of stretchable and flexible porous structures for soft robotics are presented. The stereolithography-based printing compositions are water-in-oil (W/O) emulsions in which water droplets are the pore-forming material, and the continuous phase is a stretchable polyurethane diacrylate (PUA). The porosity of the printed objects is controlled by the material's micro-porosity and by the macro-porosity obtained by a cellular design. The mechanical behavior can be tailored by the composition of the emulsion, providing both compliance and strength while utilizing a unique optimization methodology for fitting the ink to the 3D printer. This approach enables developing materials having superior mechanical properties, with the highest reported elongation-at-break for 3D printed porous structures, 450%. The emulsion-based printing compositions were utilized for fabricating a soft robotic gripper with unique actuation performance that could not be obtained with commonly used materials.

Liquid-Free, Self-Repairable, Recyclable, and Highly Stretchable Colorless Solid Ionic Conductive Elastomers for Strain/Temperature Sensors

Solid-state ionic conductive elastomers (ICEs) can fundamentally overcome the disadvantages of hydrogels and ionogels (their liquid components tend to leak or evaporate), and are considered to be ideal materials for flexible ionic sensors. In this study, a liquid-free ionic polyurethane (PU) type conductive elastomer (ICE-2) was synthesized and studied. The PU type matrix with microphase separation endowed ICE-2 with excellent mechanical versatility. The disulfide bond exchange reaction in the hard phase and intermolecular hydrogen bonds contributed to damage repairing ability. ICE-2 exhibited good ionic conductivity (2.86×10-6  S/cm), high transparency (average transmittance >89 %, 400~800 nm), excellent mechanical properties (tensile strength of 3.06 MPa, elongation at break of 1760 %, and fracture energy of 14.98 kJ/m2 ), appreciable self-healing ability (healing efficiency >90 %), satisfactory environmental stability, and outstanding recyclability. The sensor constructed by ICE-2 could not only realize the perception of temperature changes, but also accurately and sensitively detect various human activities, including joint movements and micro-expression changes. This study provides a simple and effective strategy for the development of flexible and soft ionic conductors for sensors and human-machine interfaces.

Fully 3D-printed tortoise-like soft mobile robot with muti-scenario adaptability

Soft robotic systems are well suited to unstructured, dynamic tasks and environments, owing to their ability to adapt and conform without damaging themselves or their surroundings. These abilities are crucial in areas such as human-robot interaction, simplification of control system and weight reduction. At present, the existing soft mobile robots still have the disadvantages of single motion mode and application scenario, difficult manufacturing and low energy conversion efficiency. Based on the current shortcomings of soft robots, this paper designs and proposes a fully 3D-printed tortoise-like soft mobile robot with muti-scenarios adaptability. The robot uses a Bionic Tortoise Leg Actuator structure that enables simultaneous bending of the actuator in both directions, simplifying robot control and increasing the maximum bending angle achievable. In addition, a reconfiguration design solution has been proposed to enable the robot to implement two bionic modes for land and sea turtles, adapting to move on hard and soft surfaces and in water, enabling it to move in amphibious and complex environments. The performance of the pneumatic soft actuator is also improved by an improved Digital Light Processing method that enhances the maximum strain of the 3D printed soft material. The prototype was tested to give maximum movement speeds for different gaits and environments, demonstrating that the fully 3D printed tortoise-like soft-mobile robot designed in this paper is highly adaptable to multiple scenarios. The robot studied in this paper has a wide range of applications, with potential applications including navigation in a variety of domain environments, inspection of large underground oil and gas pipelines, and navigation in high temperature, high humidity and strong magnetic field environments or in military alert conditions.

Advances in the Preparation of Tough Conductive Hydrogels for Flexible Sensors

The rapid development of tough conductive hydrogels has led to considerable progress in the fields of tissue engineering, soft robots, flexible electronics, etc. Compared to other kinds of traditional sensing materials, tough conductive hydrogels have advantages in flexibility, stretchability and biocompatibility due to their biological structures. Numerous hydrogel flexible sensors have been developed based on specific demands for practical applications. This review focuses on tough conductive hydrogels for flexible sensors. Representative tactics to construct tough hydrogels and strategies to fulfill conductivity, which are of significance to fabricating tough conductive hydrogels, are briefly reviewed. Then, diverse tough conductive hydrogels are presented and discussed. Additionally, recent advancements in flexible sensors assembled with different tough conductive hydrogels as well as various designed structures and their sensing performances are demonstrated in detail. Applications, including the wearable skins, bionic muscles and robotic systems of these hydrogel-based flexible sensors with resistive and capacitive modes are discussed. Some perspectives on tough conductive hydrogels for flexible sensors are also stated at the end. This review will provide a comprehensive understanding of tough conductive hydrogels and will offer clues to researchers who have interests in pursuing flexible sensors.

Advanced Composite Materials Utilized in FDM/FFF 3D Printing Manufacturing Processes: The Case of Filled Filaments

The emergence of additive manufacturing technologies has brought about a significant transformation in several industries. Among these technologies, Fused Deposition Modeling/Fused Filament Fabrication (FDM/FFF) 3D printing has gained prominence as a rapid prototyping and small-scale production technique. The potential of FDM/FFF for applications that require improved mechanical, thermal, and electrical properties has been restricted due to the limited range of materials that are suitable for this process. This study explores the integration of various reinforcements, including carbon fibers, glass fibers, and nanoparticles, into the polymer matrix of FDM/FFF filaments. The utilization of advanced materials for reinforcing the filaments has led to the enhancement in mechanical strength, stiffness, and toughness of the 3D-printed parts in comparison to their pure polymer counterparts. Furthermore, the incorporation of fillers facilitates improved thermal conductivity, electrical conductivity, and flame retardancy, thereby broadening the scope of potential applications for FDM/FFF 3D-printed components. Additionally, the article underscores the difficulties linked with the utilization of filled filaments in FDM/FFF 3D printing, including but not limited to filament extrusion stability, nozzle clogging, and interfacial adhesion between the reinforcement and matrix. Ultimately, a variety of pragmatic implementations are showcased, wherein filled filaments have exhibited noteworthy benefits in comparison to standard FDM/FFF raw materials. The aforementioned applications encompass a wide range of industries, such as aerospace, automotive, medical, electronics, and tooling. The article explores the possibility of future progress and the incorporation of innovative reinforcement materials. It presents a plan for the ongoing growth and application of advanced composite materials in FDM/FFF 3D printing.

Near-Infrared Remotely Controllable Shape Memory Biodegradable Occluder Based on Poly(l-lactide-co-ε-caprolactone)/Gold Nanorod Composite

Biodegradable occluders, which can efficiently eliminate the complications caused by permanent foreign implants, are considered to be the next-generation devices for the interventional treatment of congenital heart disease. However, the controllability of the deployment process of degradable occluders remains a challenge. In this work, a near-infrared (NIR) remotely controllable biodegradable occluder is explored by integrating poly(l-lactide-co-ε-caprolactone) (PLCL) with poly(ethylene glycol)-modified gold nanorods (GNR/PEG). The caprolactone structural units can effectively increase the toughness of poly(l-lactide) and reduce the shape-memory transition temperature of the occluder to a more tissue-friendly temperature. Gold nanorods endow the PLCL-GNR/PEG composite with an excellent photothermal effect. The obtained occluder can be easily loaded into a catheter for transport and spatiotemporally expanded under irradiation with near-infrared light to block the defect site. Both in vitro and in vivo biological experiments showed that PLCL-GNR/PEG composites have good biocompatibility, and the PEGylated gold nanorods could improve the hemocompatibility of the composites to a certain extent by enhancing their hydrophilicity. As a thermoplastic shape-memory polymer, PLCL-GNR/PEG can be easily processed into various forms and structures for different patients and lesions. Therefore, PLCL-GNR/PEG has the potential to be considered as a competitive biodegradable material not only for occluders but also for other biodegradable implants.

Three/Four-Dimensional Printed PLA Nano/Microstructures: Crystallization Principles and Practical Applications

Compared to traditional methods, three/four-dimensional (3D/4D) printing technologies allow rapid prototyping and mass customization, which are ideal for preparing nano/microstructures of soft polymer materials. Poly (lactic acid) (PLA) is a biopolymer material widely used in additive manufacturing (AM) because of its biocompatibility and biodegradability. Unfortunately, owing to its intrinsically poor nucleation ability, a PLA product is usually in an amorphous state after industrial processing, leading to some undesirable properties such as a barrier property and low thermal resistance. Crystallization mediation offers a most practical way to improve the properties of PLA products. Herein, we summarize and discuss 3D/4D printing technologies in the processing of PLA nano/microstructures, focusing on crystallization principles and practical applications including bio-inspired structures, flexible electronics and biomedical engineering mainly reported in the last five years. Moreover, the challenges and prospects of 3D/4D printing technologies in the fabrication of high-performance PLA materials nano/microstructures will also be discussed.

Shape-recovering nanocellulose networks: Preparation, characterization and modeling

Development of strong cellulose nanofibril (CNF) networks for advanced applications, such as in the biomedical field, is of high importance owing to the biocompatible nature and plant-based origin of cellulose nanofibrils. Nevertheless, lack of mechanical strength and complex synthesis methods hinder the application of these materials in areas where both toughness and manufacturing simplicity are required. In this work, we introduce a facile method for the synthesis of a low solid content (< 2 wt%), covalently crosslinked CNF hydrogel where Poly (N-isopropylacrylamide) (NIPAM) chains are utilized as crosslinks between the nanofibrils. The resulting networks have the capability to fully recover the shape in which they were formed after various drying and rewetting cycles. Characterization of the hydrogel and its constitutive components was performed using X-ray scattering, rheological investigations and uniaxial testing in compression. Influence of covalent crosslinks was compared with networks crosslinked by the addition of CaCl₂. Among other things the results show that the mechanical properties of the hydrogels can be tuned by controlling the ionic strength of the surrounding medium. Finally, a mathematical model was developed based on the experimental results, which describes and predicts to a decent degree the large-deformation, elastoplastic behavior, and fracture of these networks.

A liquid-free conducting ionoelastomer for 3D printable multifunctional self-healing electronic skin with tactile sensing capabilities

Conductive elastomers with both softness and conductivity are widely used in the field of flexible electronics. Nonetheless, conductive elastomers typically exhibit prominent problems such as solvent volatilization and leakage, and poor mechanical and conductive properties, which limit their applications in electronic skin (e-skin). In this work, a liquid-free conductive ionogel (LFCIg) with excellent performance was fabricated by utilizing the innovative double network design approach based on a deep eutectic solvent (DES). The double-network LFCIg is cross-linked by dynamic non-covalent bonds, which exhibit excellent mechanical properties (2100% strain while sustaining a fracture strength of 1.23 MPa) and >90% self-healing efficiency, and a superb electrical conductivity of 23.3 mS m-1 and 3D printability. Moreover, the conductive elastomer based on LFCIg has been developed into a stretchable strain sensor that achieves accurate response recognition, classification, and identification of different robot gestures. More impressively, an e-skin with tactile sensing functions is produced by in situ 3D printing of sensor arrays on flexible electrodes to detect light weight objects and recognize the resulting spatial pressure variations. Collectively, the results demonstrate that the designed LFCIg has unparalleled advantages and presents wide application potential in flexible robotics, e-skin and physiological signal monitoring.

Micro-/nanoscale robotics for chemical and biological sensing

The field of micro-/nanorobotics has attracted extensive interest from a variety of research communities and witnessed enormous progress in a broad array of applications ranging from basic research to global healthcare and to environmental remediation and protection. In particular, micro-/nanoscale robots provide an enabling platform for the development of next-generation chemical and biological sensing modalities, owing to their unique advantages as programmable, self-sustainable, and/or autonomous mobile carriers to accommodate and promote physical and chemical processes. In this review, we intend to provide an overview of the state-of-the-art development in this area and share our perspective in the future trend. This review starts with a general introduction of micro-/nanorobotics and the commonly used methods for propulsion of micro-/nanorobots in solution, along with the commonly used methods in their fabrication. Next, we comprehensively summarize the current status of the micro/nanorobotic research in relevance to chemical and biological sensing (e.g., motion-based sensing, optical sensing, and electrochemical sensing). Following that, we provide an overview of the primary challenges currently faced in the micro-/nanorobotic research. Finally, we conclude this review by providing our perspective detailing the future application of soft robotics in chemical and biological sensing.

Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand

Machines that mimic humans have inspired scientists for centuries. Bioinspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to unstructured environments. Recent research led to impactful achievements in functional designs, modeling, fabrication, and control of soft robots. Nevertheless, the full realization of life-like movements is still challenging to achieve, often based on trial-and-error considerations from design to fabrication, consuming time and resources. In this study, a soft robotic hand is proposed, composed of soft actuator cores and an exoskeleton, featuring a multimaterial design aided by finite element analysis (FEA) to define the hand geometry and promote finger's bendability. The actuators are fabricated using molding, and the exoskeleton is 3D-printed in a single step. An ON-OFF controller keeps the set fingers' inner pressures related to specific bending angles, even in the presence of leaks. The FEA numerical results were validated by experimental tests, as well as the ability of the hand to grasp objects with different shapes, weights, and sizes. This integrated solution will make soft robotic hands more available to people, at a reduced cost, avoiding the time-consuming design-fabrication trial-and-error processes.

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Although natural continuum structures, such as the boneless elephant trunk, provide inspiration for new versatile grippers, highly deformable, jointless, and multidimensional actuation has still not been achieved. The challenging pivotal requisites are to avoid sudden changes in stiffness, combined with the capability of providing reliable large deformations in different directions. This research addresses these two challenges by harnessing porosity at two levels: material and design. Based on the extraordinary extensibility and compressibility of volumetrically tessellated structures with microporous elastic polymer walls, monolithic soft actuators are fabricated by 3D printing unique polymerizable emulsions. The resulting monolithic pneumatic actuators are printed in a single process and are capable of bidirectional movements with just one actuation source. The proposed approach is demonstrated by two proof-of-concepts: a three-fingered gripper, and the first ever soft continuum actuator that encodes biaxial motion and bidirectional bending. The results open up new design paradigms for continuum soft robots with bioinspired behavior based on reliable and robust multidimensional motions.

A self-healing magneto-responsive nanocellulose ferrogel and flexible soft strain sensor

Crosslinks are the building blocks of hydrogels and play an important role in their overall properties. They may either be reversible and dynamic allowing for autonomous self-healing properties, or permanent and static resulting in robustness and mechanical strength. Hence, a combination of crosslinks is often required to engineer the 3D network of hydrogels with both autonomous self-healing and required robustness for strain sensing application; however, this complicates the fabrication of such hydrogels. The facile, yet versatile, approach used in this study is to forgo the use of extra crosslinks and instead rely solely on the properties of magnetic nanocellulose to fabricate a tough, stretchy, yet magneto-responsive, ionic conductive ferrogel for strain sensing. The ferrogel also gives stimuli-free and autonomous self-healing capacity, as well as the ability to monitor real-time strain under external magnetic actuation. The ferrogel also functions as a touch-screen pen. Based on our findings, this study has the potential to advance the rational design of multifunctional hydrogels, with applications in soft and flexible strain sensors, health monitoring and soft robotics.

Oribron: An Origami-Inspired Deformable Rigid Bronchoscope for Radial Support

The structure of a traditional rigid bronchoscope includes proximal, distal, and body, representing an important means to treat hypoxic diseases. However, the body structure is too simple, resulting in the utilization rate of oxygen being usually low. In this work, we reported a deformable rigid bronchoscope (named Oribron) by adding a Waterbomb origami structure to the body. The Waterbomb's backbone is made of films, and the pneumatic actuators are placed inside it to achieve rapid deformation at low pressure. Experiments showed that Waterbomb has a unique deformation mechanism, which can transform from a small-diameter configuration (#1) to a large-diameter configuration (#2), showing excellent radial support capability. When Oribron entered or left the trachea, the Waterbomb remained in #1. When Oribron is working, the Waterbomb transforms from #1 to #2. Since #2 reduces the gap between the bronchoscope and the tracheal wall, it effectively slows down the rate of oxygen loss, thus promoting the absorption of oxygen by the patient. Therefore, we believe that this work will provide a new strategy for the integrated development of origami and medical devices.

3D printed superparamagnetic stimuli-responsive starfish-shaped hydrogels

Magnetic-stimuli responsive hydrogels are quickly becoming a promising class of materials across numerous fields, including biomedical devices, soft robotic actuators, and wearable electronics. Hydrogels are commonly fabricated by conventional methods that limit the potential for complex architectures normally required for rapidly changing custom configurations. Rapid prototyping using 3D printing provides a solution for this. Previous work has shown successful extrusion 3D printing of magnetic hydrogels; however, extrusion-based printing is limited by nozzle resolution and ink viscosity. VAT photopolymerization offers a higher control over resolution and build-architecture. Liquid photo-resins with magnetic nanocomposites normally suffer from nanoparticle agglomeration due to local magnetic fields. In this work, we develop an optimised method for homogenously infusing up to 2 wt % superparamagnetic iron oxide nanoparticles (SPIONs) with a 10 nm diameter into a photo-resin composed of water, acrylamide and PEGDA, with improved nanoparticle homogeneity and reduced agglomeration during printing. The 3D printed starfish hydrogels exhibited high mechanical stability and robust mechanical properties with a maximum Youngs modulus of 1.8 MPa and limited shape deformation of 10% when swollen. Each individual arm of the starfish could be magnetically actuated when a remote magnetic field is applied. The starfish could grab onto a magnet with all arms when a central magnetic field was applied. Ultimately, these hydrogels retained their shape post-printing and returned to their original formation once the magnetic field had been removed. These hydrogels can be used across a wide range of applications, including soft robotics and magnetically stimulated actuators.

Lignin-Based Materials for Additive Manufacturing: Chemistry, Processing, Structures, Properties, and Applications

The utilization of lignin, the most abundant aromatic biomass component, is at the forefront of sustainable engineering, energy, and environment research, where its abundance and low-cost features enable widespread application. Constructing lignin into material parts with controlled and desired macro- and microstructures and properties via additive manufacturing has been recognized as a promising technology and paves the way to the practical application of lignin. Considering the rapid development and significant progress recently achieved in this field, a comprehensive and critical review and outlook on three-dimensional (3D) printing of lignin is highly desirable. This article fulfils this demand with an overview on the structure of lignin and presents the state-of-the-art of 3D printing of pristine lignin and lignin-based composites, and highlights the key challenges. It is attempted to deliver better fundamental understanding of the impacts of morphology, microstructure, physical, chemical, and biological modifications, and composition/hybrids on the rheological behavior of lignin/polymer blends, as well as, on the mechanical, physical, and chemical performance of the 3D printed lignin-based materials. The main points toward future developments involve hybrid manufacturing, in situ polymerization, and surface tension or energy driven molecular segregation are also elaborated and discussed to promote the high-value utilization of lignin.

Strategy and additive technologies as the catalyst for outsourcing, process innovation and operational effectiveness

PURPOSE

There is rising interest in Industry 4.0 as a factor in the competitiveness of the organization. Although many companies are aware of the importance of Industry 4.0, the development of such initiatives in Colombia is slow. Consequently, this research investigates the impact of additive technologies as part of the Industry 4.0 concept on operational effectiveness and, therefore, the competitiveness of the organization and tries to establish the factors that hinder the adequate implementation of such new, innovative technologies.

DESIGN/METHODOLOGY/APPROACH

Structural equation modeling was used to analyze the antecedents and outcomes of operational effectiveness. To this end, 946 usable questionnaires were collected from managers and personnel from Colombian organizations.

FINDINGS

Initial findings show that management is aware of Industry 4.0 concepts and implements strategies for such initiatives. Nevertheless, neither process innovation nor additive technologies have a significant impact on operational effectiveness and therefore on the competitiveness of the organization.

PRACTICAL IMPLICATIONS

The implementation of new innovative technologies requires the closure of the digital gap between urban and rural areas and between large and medium and small enterprises. Similarly, the concept of Industry 4.0 as a new, innovative manufacturing concept requires a transversal implementation to increase the competitiveness of the organization.

ORIGINALITY/VALUE

The value of this paper lies in discussing the current technological and human capabilities and strategies that Colombian organizations, as an example of a developing nation, should improve to leverage the benefits of Industry 4.0 to remain competitive. The results are probably generalizable to other regions in developing countries throughout the world.

Self-Healable Elastomeric Network with Dynamic Disulfide, Imine, and Hydrogen Bonds for Flexible Strain Sensor

Self-healable and stretchable elastomeric material is essential for the development of flexible electronics devices to ensure their stable performance. In this study, a strain sensor (PIH₂ T₁ -tri/CNT-3) composed of self-repairable crosslinked elastomer substrate (PIH₂ T₁ -tri, containing multiple reversible repairing sites such as disulfide, imine, and hydrogen bonds) and conductive layer (carbon nanotube, CNT) was prepared. The PIH₂ T₁ -tri elastomer had excellent self-healing ability (healing efficiency=91 %). It exhibited good mechanical integrity in terms of elongation at break (672 %), tensile strength (1.41 MPa). The Young's modulus (0.39 MPa) was close to that of human skin. The PIH₂ T₁ -tri/CNT-3 sensor also demonstrated an effective self-healing function for electrical conduction and sensing property. Meanwhile, it had high sensitivity (gauge factor (GF)=24.1), short response time (120 ms), and long-term durability (4000 cycles). This study offers a novel self-healable elastomer platform with carbon based conductive components to develop flexible strain sensors towards high performance soft electronics.

Recent Advances on High-Performance Polyaryletherketone Materials for Additive Manufacturing

Polyaryletherketone (PAEK) is emerging as an important high-performance polymer material in additive manufacturing (AM) benefiting from its excellent mechanical properties, good biocompatibility, and high-temperature stability. The distinct advantages of AM facilitate the rapid development of PAEK products with complex customized structures and functionalities, thereby enhancing their applications in various fields. Herein, the recent advances on AM of high-performance PAEKs are comprehensively reviewed, concerning the materials properties, AM processes, mechanical properties, and potential applications of additively manufactured PAEKs. To begin, an introduction to fundamentals of AM and PAEKs, as well as the advantages of AM of PAEKs is provided. Discussions are then presented on the material properties, AM processes, processing-matter coupling mechanism, thermal conductivity, crystallization characteristics, and microstructures of AM-processed PAEKs. Thereafter, the mechanical properties and anisotropy of additively manufactured PAEKs are discussed in depth. Their representative applications in biomedical, aerospace, electronics, and other fields are systematically presented. Finally, current challenges and possible solutions are discussed for the future development of high-performance AM polymers.

VitRad: A low-cost continuous wave Doppler radar system with 3D-printed horn antennas for human vital sign detection

In this study, a low-cost continuous wave (CW) radar system with 3D-printed high-gain horn antennas called VitRad is proposed for human vital sign detection. The CW radar consists of 3D-printed high-gain horn antennas, commercially available low-cost surface-mounting devices, and monolithic ICs. The CW radar system operates at a frequency band of 5.8 GHz, and the backscattered I/Q data are collected using a digital storage oscilloscope (DSO). The data is processed on MATLAB to determine vital sign information such as respiratory and heartbeat rates. It is demonstrated that the proposed CW radar system for vital-sign monitoring can effectively measure respiratory and heartbeat rates.

Aligned Magnetic Nanocomposites for Modularized and Recyclable Soft Microrobots

Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains. By directionally bonding the sides or backs of identical modules together, we demonstrate that assemblies from only two and four modules can execute a wide range of locomotion, including gripping microscale objects, crawling and crossing solid obstacles, swimming within narrow and tortuous microchannels, and rolling along flat and inclined surfaces, upon applying proper magnetic fields. The assembled microrobots can additionally perform pick-transfer-place and cargo-release tasks at the microscale. More importantly, like the game of block-building, the microrobots can be disassembled back to separate modules and then reassembled to other configurations as demanded. The present study not only provides a versatile and economic manufacturing technique for reconfigurable and recyclable soft microrobots, enabling unlimited design space for diverse robotic locomotion from limited materials and module structures, but also extends the functionality and dexterity of existing soft robots to microscale that should facilitate practical applications at such small scale.

Degradable silk-based soft actuators with magnetic responsiveness

Soft actuators with stimuli-responsiveness have great potential in biomedical applications such as drug delivery and minimally invasive surgery. In this study, protein-based soft actuators with magnetic actuation are fabricated using naturally occurring silk proteins and synthesized Fe₃O₄ magnetic nanoparticles (NPs). Briefly, magnetic silk films are first prepared by solution casting of a mixture containing silk proteins, synthesized Fe₃O₄ NPs, and glycerol. The molecular structures of the magnetic silk films are characterized by FTIR spectroscopy, which show that the β-sheet content in the films is about 20%. The mechanical tests show that the magnetic silk films can be stretched to over 200% under wet conditions and Young's modulus is estimated to be 4.89 ± 0.69 MPa, matching the stiffness of soft tissues. Furthermore, the enzymatic degradability, good biocompatibility, and in vivo X-ray visibility of the films are demonstrated by the in vitro enzymatic degradation test, in vivo biocompatibility test, and micro-CT imaging, respectively. Degradable silk-based soft actuators with magnetic responsiveness are successfully prepared by thermal forming or plastic molding of the magnetic silk films. The fabricated soft actuators can be actuated and move with precise locomotive gaits in solutions using a magnet. In addition, the retention of the soft actuators and localized drug delivery in gastrointestinal tracts by attaching a magnet to the abdominal skin are demonstrated using model systems. The degradable silk-based soft actuators provide many opportunities for improving current therapeutic strategies in biomedicine.

A Metal Ion and Thermal-Responsive Bilayer Hydrogel Actuator Achieved by the Asymmetric Osmotic Flow of Water between Two Layers under Stimuli

Shape-morphing hydrogels have drawn great attention due to their wide applications as soft actuators, while asymmetric responsive shape-morphing behavior upon encountering external stimuli is fundamental for the development of hydrogel actuators. Therefore, in this work, bilayer hydrogels were prepared and the shrinkage ratios (LA/LN) of the AAm/AAc layer to the NIPAM layer immersed in different metal ion solutions, leading to bending in different directions, were investigated. The difference in the shrinkage ratio was attributed to the synergistic effect of the osmolarity difference between the inside and outside of the hydrogels and the interaction difference between the ion and hydrogel polymer chains. Additionally, under thermal stimuli, the hydrogel actuator would bend toward the NIPAM layer due to the shrinkage of the hydrogel networks caused by the hydrophilic–hydrophobic phase transition of NIPAM blocks above the LCST. This indicates that metal ion and thermal-responsive shape-morphing hydrogel actuators with good mechanical properties could be used as metal ion or temperature-controllable switches or other smart devices.

Touch-Responsive Hydrogel for Biomimetic Flytrap-Like Soft Actuator

Stimuli-responsive hydrogel is regarded as one of the most promising smart soft materials for the next-generation advanced technologies and intelligence robots, but the limited variety of stimulus has become a non-negligible issue restricting its further development. Herein, we develop a new stimulus of "touch" (i.e., spatial contact with foreign object) for smart materials and propose a flytrap-inspired touch-responsive polymeric hydrogel based on supersaturated salt solution, exhibiting multiple responsive behaviors in crystallization, heat releasing, and electric signal under touch stimulation. Furthermore, utilizing flytrap-like cascade response strategy, a soft actuator with touch-responsive actuation is fabricated by employing the touch-responsive hydrogel and the thermo-responsive hydrogel. This investigation provides a facile and versatile strategy to design touch-responsive smart materials, enabling a profound potential application in intelligence areas.

Smart Film Actuators for Biomedical Applications

Taking inspiration from the extremely flexible motion abilities in natural organisms, soft actuators have emerged in the past few decades. Particularly, smart film actuators (SFAs) demonstrate unique superiority in easy fabrication, tailorable geometric configurations, and programmable 3D deformations. Thus, they are promising in many biomedical applications, such as soft robotics, tissue engineering, delivery system, and organ-on-a-chip. In this review, the latest achievements of SFAs applied in biomedical fields are summarized. The authors start by introducing the fabrication techniques of SFAs, then shift to the topology design of SFAs, followed by their material selections and distinct actuating mechanisms. After that, their biomedical applications are categorized in practical aspects. The challenges and prospects of this field are finally discussed. The authors believe that this review can boost the development of soft robotics, biomimetics, and human healthcare.

Three-Dimensional Printing in Stimuli-Responsive Yield-Stress Fluid with an Interactive Dual Microstructure

Yield-stress support bath-enabled three-dimensional (3D) printing has been widely used in recent years for diverse applications. However, current yield-stress fluids usually possess single microstructures and still face the challenges of on-demand adding and/or removing support bath materials during printing, constraining their application scope. This study aims to propose a concept of stimuli-responsive yield-stress fluids with an interactive dual microstructure as support bath materials. The microstructure from a yield-stress additive allows the fluids to present switchable states at different stresses, facilitating an embedded 3D printing process. The microstructure from stimuli-responsive polymers enables the fluids to have regulable rheological properties upon external stimuli, making it feasible to perfuse additional yield-stress fluids during printing and easily remove residual fluids after printing. A nanoclay-Pluronic F127 nanocomposite is studied as a thermosensitive yield-stress fluid. The key material properties are characterized to unveil the interactions in the formed dual microstructure and microstructure evolutions at different stresses and temperatures. Core scientific issues, including the filament formation principle, surface roughness control, and thermal effects of the newly added nanocomposite, are comprehensively investigated. Finally, three representative 3D structures, the Hall of Prayer, capsule, and tube with changing diameter, are successfully printed to validate the printing capability of stimuli-responsive yield-stress fluids for fabricating arbitrary architectures.

Dip-Printed Microneedle Motors for Oral Macromolecule Delivery

Micromotors have demonstrated values in drug delivery, and recent attempts focus on developing effective approaches to generate functional micromotors to improve this area. Here, with the integration of microfluidic droplet printing and wettability-induced drawing photolithography, we present an innovative spatiotemporal serial multistep dip-printing strategy to generate novel independent microneedle motors (IMNMs) for orally delivering macromolecular drugs. As the strategy combines the advantages of the hydrophilic wettability, extension effects, and capillary effects, the IMNMs with an oblate basement and a needle-shaped head or a core-shell structured multicomponent head can be created by simply printing pregel droplets layer by layer, following with simultaneous wiredrawing and solidification. Owing to the polarized magnetic particles in the bottom basement and the rapidly dissolvable polymers as the middle basement, the resultant IMNMs can respond to magnetic fields, move to desired places under a magnet, penetrate tissue-like substrates, induce head-basement separation, and leave only the needles for cargo release. Based on these features, we have demonstrated that these IMNMs can deliver insulin via intestinal tracts to realize effective blood glucose control of diabetic rabbit models. These results indicate the practical values and bright future of the dip-printing stratagem and these IMNMs in clinical applications.

A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots

Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.

Advances in 4D printing of liquid crystalline elastomers: materials, techniques, and applications

Liquid crystalline elastomers (LCEs) are polymer networks exhibiting anisotropic liquid crystallinity while maintaining elastomeric properties. Owing to diverse polymeric forms and self-alignment molecular behaviors, LCEs have fascinated state-of-the-art efforts in various disciplines other than the traditional low-molar-mass display market. By patterning order to structures, LCEs demonstrate reversible high-speed and large-scale actuations in response to external stimuli, allowing for close integration with 4D printing and architectures of digital devices, which is scarcely observed in homogeneous soft polymer networks. In this review, we collect recent advances in 4D printing of LCEs, with emphases on synthesis and processing methods that enable microscopic changes in the molecular orientation and hence macroscopic changes in the properties of end-use objects. Promising potentials of printed complexes include fields of soft robotics, optics, and biomedical devices. Within this scope, we elucidate the relationships among external stimuli, tailorable morphologies in mesophases of liquid crystals, and programmable topological configurations of printed parts. Lastly, perspectives and potential challenges facing 4D printing of LCEs are discussed.

Recent Trends in Advanced Photoinitiators for Vat Photopolymerization 3D Printing

3D printing has revolutionized the way of manufacturing with a huge impact on various fields, in particular biomedicine. Vat photopolymerization-based 3D printing techniques such as stereolithography (SLA) and digital light processing (DLP) attracted considerable attention owing to their superior print resolution, relatively high speed, low cost and flexibility in resin material design. As one key element of the SLA/DLP resin, photoinitiators or photoinitiating systems have experienced significant development in recent years, in parallel with the exploration of 3D printing (macro)monomers. The design of new photoinitiating systems can not only offer faster 3D printing speed and enable low-energy visible light fabrication, but also can bring new functions to the 3D printed products and even generate new printing methods in combination with advanced optics. This review evaluates recent trends in the development and application of advanced photoinitiators and photoinitiating systems for vat photopolymerization 3D printing, with a wide range of small molecules, polymers and nanoassemblies involved. Personal perspectives on the current limitations and future directions are eventually provided. This article is protected by copyright. All rights reserved.

Simple low-cost 3D metal printing via plastic skeleton burning

Additive manufacturing of complex volumetric structures opened new frontiers in many technological fields, turning previously inconceivable designs into a practical reality. Electromagnetic components, including antenna and waveguiding elements, can benefit from exploring the third dimension. While fused deposition modeling (FDM) polymer printers become widely accessible, they manufacture structures with moderately low electromagnetic permittivities, compared to metals. However, metal 3D printers, being capable of producing complex volumetric constructions, remain extremely expensive and hard to maintain apparatus, suitable for high-end market applications. Here we develop a new metal printing technique, based on a low-cost and simple FDM device and subsequent electrochemical deposition. For testing the new method, we fabricated several antenna devices and compared their performances to standard printed FeCl₃ etched board-based counterparts, demonstrating clear advantages of the new technique. Our new metal printing can be applied to manufacture electromagnetic devices as well as metallic structures for other applications.