High-Performance Organohydrogel Artificial Muscle with Compartmentalized Anisotropic Actuation Under Microdomain Confinement

Multi-responsive and self-sensing flexible actuator based on MXene and cellulose nanofibers Janus film

Flexible actuators are widely used in soft robots, flexible electronics, and biomedicine. However, there still exists a significant challenge in fabricating flexible actuators with multi-response and self-sensing capabilities. In order to address this issue, a novel multi-responsive and self-sensing flexible actuator incorporating an MXene/cellulose nanofibers (MXene/CNF) Janus film was ingeniously developed. MXene/CNF Janus film was prepared using a layered filtration method. The MXene layer of the Janus film exhibits outstanding photothermal conversion properties as well as remarkable electrothermal conversion performance, while its CNF layer showcases excellent moisture absorption properties. As a result of the hydrogen bonding between MXene and CNF, the MXene/CNF Janus film exhibits excellent mechanical properties (Young's modulus of 3620.55 MPa). Using MXene as the printing solution, MXene/polyethylene (MPE) strain sensor with the function of self-sensing the deformation of the flexible actuator was prepared on the PE film by electrohydrodynamic (EHD) printing technology. The MXene/CNF Janus film was assembled with MPE film to fabricate a MXene/CNF-MPE smart flexible actuator with multi-responsive actuation capability and the self-sensing deformation function. Under a near-infrared light intensity of 250 mW/cm2, the fabricated actuator can achieve a bending curvature of 1.54 cm-1 within 6.8 s, and it reaches a bending curvature of 4.39 cm-1 within 28 s under a 4 V voltage. Moreover, during the process of environmental humidity changing from 50 % to 80 %, the fabricated actuator demonstrates a bending curvature of 1.81 cm-1. While responding to these multiple stimuli, the flexible actuator can self-sense the bending deformation through the resistance change of the MPE-based flexible strain sensor. Lastly, the flexible actuator demonstrates the possibilities in gesture recognition of bionic hand and bionic flytrap.

Dynamic BO bonds-induced viscoelasticity and surface adhesion regulation for constructing konjac glucomannan-based soft actuators with superior mobility and capturability

In all soft actuators, achieving both outstanding mobility and capturability is crucial; however, these properties are usually mutually exclusive due to the lack of an effective mechanism for controlling the viscoelasticity of the switching polymer matrix while maintaining a moderate surface adhesion. In this study, we propose a dynamic bond cross-linking strategy to successfully develop a magnetically responsive soft hydrogel (MRSH) with exceptional mobility (117.56 mm/s) and capturability. By introducing dynamic BO bonds into the KGM@Fe3O4@PSSMA NPs composite matrix, the crosslinking density and overall cohesion of MRSH can be precisely controlled, resulting in unique non-Newtonian fluid characteristics. Additionally, the dynamic BO bonds transition between associative and dissociative states with the hydroxyl groups on the KGM molecular chains, which can effectively regulate the amount of hydroxyl groups on the surface of MRSH, thereby achieving demonstrate moderate surface adhesion. As a result, the synthesized MRSH exhibits remarkable capturability on various target surfaces and maintains outstanding mobility, even in underwater environments. This work paves the way for new possibilities in the field of soft actuators and engineering by overcoming the limitations of traditional soft actuators in terms of surface adhesion and responsiveness through innovative structural design and material combinations.

Marine Amoebae-Inspired Salting Hydrogels to Reconfigure Anisotropy for Reprogrammable Shape Morphing

Reprogrammable shape morphing is ubiquitous in living beings and highly crucial for them to move in normal situations, even to survive under dangerous conditions. There is increasing interest in using asymmetric hydrogel structures to understand and mimic living beings' shape morphing upon an external trigger in a controlled way. However, these asymmetric or heterogeneous configurations cannot be further modified once the polymer hydrogels are prepared. Therefore, it is a great challenge to achieve reprogrammable shape morphing using the existing hydrogels. Inspired by marine amoebae, which transform into several different morphologies according to the various external salt concentrations, a new strategy is developed for salting hydrogels to reconfigure their anisotropy toward reprogrammable shape morphing. Polyampholyte hydrogels with equal stoichiometric COO- and N+(CH3)3 groups were first swollen in HCl/NaCl solution. After being then transferred into water, they first swollen again by water uptake driven by the osmotic pressure, and then were spontaneously deswollen due to increase in internal pH and dialysis of ions leading to deprotonation of COOH to COO- and regeneration of COO-/N+(CH3)3 electrostatic attraction. This work provides a novel strategy to reconfigure anisotropy of hydrogel soft actuators and to open up an avenue for reprogrammable shape morphing.

Hierarchically aligned heterogeneous core-sheath hydrogels

Natural materials with highly oriented heterogeneous structures are often lightweight but strong, stiff but tough and durable. Such an integration of diverse incompatible mechanical properties is highly desired for man-made materials, especially weak hydrogels which are lack of high-precision structural design. Herein, we demonstrate the fabrication of hierarchically aligned heterogeneous hydrogels consisting of a compactly crosslinked sheath and an aligned porous core with alignments of nanofibrils at multi-scales by a sequential self-assembly assisted salting out method. The produced hydrogel offers ultrahigh mechanical properties among the reported hydrogels, elastomers and natural materials, including a toughness of 1031 MJ · m-3, strength of 55.3 MPa, strain of 3300%, stiffness of 6.8 MPa, fracture energy of 552.7 kJ · m-2 and fatigue threshold of 40.9 kJ · m-2. Furthermore, such a tough and strong hydrogel facilely achieves stable regeneration and rapid adhesion owing to the highly crystallized and aligned network structure. The regenerated specimen presents the reinforced strength, toughness and fatigue resistance over 10 regeneration cycles. This work provides a simple method to produce hydrogels with bioinspired heterostructures and combinational properties for real applications.

Smart sensing hydrogel actuators conferred by MXene gradient arrangement

Smart sensing and excellent actuation abilities of natural organisms have driven scientists to develop bionic soft-bodied robots. However, most conventional robots suffer from poor electrical conductivity, limiting their application in real-time sensing and actuation. Here, we report a novel strategy to enhance the electrical conductivity of hydrogels that integrated actuation and strain-sensing functions for bioinspired self-sensing soft actuators. Conductive hydrogels were synthesized in situ by copolymerizing MXene nanosheets with thermosensitive N-isopropylacrylamide and acrylamide under a direct current electric field. The resulting hydrogels exhibited high electrical conductivity (2.11 mS/cm), good sensitivity with a gauge factor of 4.79 and long-term stability. The developed hydrogels demonstrated remarkable capabilities in detecting human motions at subtle strains such as facial expressions and large strains such as knee bending. Additionally, the hydrogel electrode patch was capable of monitoring physiological signals. Furthermore, the developed hydrogel showed good thermally induced actuation effects when the temperature was higher than 30 °C. Overall, this work provided new insights for the design of sensory materials with integrated self-sensing and actuation capabilities, which would pave the way for the development of high-performance conductive soft materials for intelligent soft robots and automated machinery.

Shape-Regulated Motion and Energy Conversion of Polyelectrolyte Membrane Actuators

Smart actuators hold great potential in soft robotics and sensors, but their movement at the fluid interface is less understood and controlled, hindering their performances and applications in complicated fluids. Here an ethanol-containing polyelectrolyte actuator is prepared that demonstrates excellent actuating performance via the Marangoni effect. These actuators exhibit enduring (17 min), repeatable (50 cycles), and autonomous motion on the water surface. More importantly, the motion of actuators are dependent on their shapes. Polygonal actuators with more edges exhibit round motion attached to walls of containers, while the actuators with few edges move randomly. On the basis of this property, the circular actuators can pass through pipe bends with S-shaped complex geometry. These unique advantages lend the actuators to successful applications in wireless sensing (standard 0-5 V level signals) for locating obstructions inside invisible pipes and continuous energy harvesting (7700 nC per cycle) for micro mechanical energy.

Large-Area Layered Membranes with Precisely Controlled Nano-Confined Channels

Two-dimensional (2D) nanosheets-based membranes, which have controlled 2D nano-confined channels, are highly desirable for molecular/ionic sieving and confined reactions. However, it is still difficult to develop an efficient method to prepare large-area membranes with high stability, high orientation, and accurately adjustable interlayer spacing. Here, we present a strategy to produce metal ion cross-linked membranes with precisely controlled 2D nano-confined channels and high stability in different solutions using superspreading shear-flow-induced assembly strategy. For example, membranes based on graphene oxide (GO) exhibit interlayer spacing ranging from 8.0±0.1 Å to 10.3±0.2 Å, with a precision of down to 1 Å. At the same time, the value of the orientation order parameter (f) of GO membranes is up to 0.95 and GO membranes exhibit superb stability in different solutions. The strategy we present, which can be generalized to the preparation of 2D nano-confined channels based on a variety of 2D materials, will expand the application scope and provide better performances of membranes.

Mechanical Regulation of Polymer Gels

The mechanical properties of polymer gels devote to emerging devices and machines in fields such as biomedical engineering, flexible bioelectronics, biomimetic actuators, and energy harvesters. Coupling network architectures and interactions has been explored to regulate supportive mechanical characteristics of polymer gels; however, systematic reviews correlating mechanics to interaction forces at the molecular and structural levels remain absent in the field. This review highlights the molecular engineering and structural engineering of polymer gel mechanics and a comprehensive mechanistic understanding of mechanical regulation. Molecular engineering alters molecular architecture and manipulates functional groups/moieties at the molecular level, introducing various interactions and permanent or reversible dynamic bonds as the dissipative energy. Molecular engineering usually uses monomers, cross-linkers, chains, and other additives. Structural engineering utilizes casting methods, solvent phase regulation, mechanochemistry, macromolecule chemical reactions, and biomanufacturing technology to construct and tailor the topological network structures, or heterogeneous modulus compositions. We envision that the perfect combination of molecular and structural engineering may provide a fresh view to extend exciting new perspectives of this burgeoning field. This review also summarizes recent representative applications of polymer gels with excellent mechanical properties. Conclusions and perspectives are also provided from five aspects of concise summary, mechanical mechanism, biofabrication methods, upgraded applications, and synergistic methodology.

Solvent Engineering of Thermo-Responsive Hydrogels Facilitates Strong and Large Contractile Actuations

Thermo-responsive hydrogels can generate the actuation force through volumetric transitions in response to temperature changes. However, their weak mechanical properties and fragile actuation performance limit robust applications. Existing approaches to enhance these properties have typically depended on additional components, leading to an unavoidable interference to the actuation performance. In this work, robust thermo-responsive hydrogels are fabricated through solvent engineering. A particular solvent, N-methylformamide, interacts affinitively with the carbonyl group of N-isopropylacrylamide monomer, solubilizes the monomer with extremely high concentration, stabilizes chain propagation during polymerization, and greatly increases chain lengths and entanglements of the resulting polymer. The synthesized hydrogels are highly elastic, strong, and tough, displaying remarkable thermo-responsive contractile actuation. The simple synthetic process can broaden its applicability in designing robust functional hydrogel applications.

Hydrogen Bonding Competition Mediated Phase Separation with Abnormal Moisture-Induced Stiffness Boosting

Moisture usually deteriorates polymers' mechanical performance owing to its plasticizing effect, causing side effects in their practical load-bearing applications. Herein, a simple binary ionogel consisting of an amphiphilic polymer network and a hydrophobic ionic liquid (IL) is developed with remarkable stiffening effect after moisture absorption, demonstrating a complete contrast to water-induced softening effect of most polymer materials. Such a moisture-induced stiffening behavior is induced by phase separation after hydration of this binary ionogel. Specifically, it is revealed that hydrogen (H)-bonding structures play a dominant role in the humidity-responsive behavior of the ionogel, where water will preferentially interact with polymer chains through H-bonding and break the polymer-IL H-bonds, thus leading to phase separation structures with modulus boosting. This work may provide a facile and effective molecular engineering route to construct mechanically adaptive polymers with water-induced dramatic stiffening for diverse applications.

Pluralizing actuation behavior of 3D printable liquid crystal elastomers via polymerization sequence control

Mechanical stretching is commonly used for mesogen alignment which is essential for the muscle-like actuations of liquid crystal elastomers (LCEs). Despite the simplicity of the method, the mesogens are typically aligned in the stretching direction, limiting exclusively the LCE to an actuation mode of cooling-induced elongation. Here, we design an interpenetrating double network consisting of an LCE network and an elastomer network, with one polymerized network stretched before the polymerization of the other network. Depending on the polymerization sequence of the two networks, the double network shows two opposite actuation modes, namely, the conventional cooling-induced elongation or an unusual cooling-induced contraction. Strategic integration of the two opposite behaviors into the same LCE leads to sophisticated actuation difficult to achieve with a conventional LCE design. Coupled with 3D printing, geometrically complexed LCEs with diverse multimodal four-dimensional actuation behaviors are illustrated. Our work expands the design scope of LCE actuators and their potential device applications.

Super-Flexible Water-Proof Actuators

Humidity-responsive materials hold broad application prospects in sensing, energy production, and other fields. Particularly, humidity-sensitive, flexibility, and water resistance are pivotal factors in the development of optimized humidity-responsive materials. In this study, hydrophobic linear polyurethane and hydrophilic 4-vinylphenylboronic acid (4-VPBA) form a semi-intercross cross-linking network. This copolymer of polyurethane exhibits excellent humidity-sensitive, mechanical properties, and water resistance. Its maximum tensile strength and maximum elongation can reach 40.56 MPa and 543.47%, respectively. After being immersed in water at various temperatures for 15 days, it exhibited a swelling ratio of only 3.28% in water at 5 °C and 9.58% in water at 70 °C. While the presence of 4-VPBA network imparts humidity-sensitive, reversible, and multidirectional bending abilities, under the stimulus of water vapor, it can bend 43° within 1.4 s. The demonstrated material surpasses current bidirectional humidity actuators in actuating ability. Based on these characteristics, automatically opening waterproof umbrellas and windows, as well as bionic-arms, crawling robots, and self-propelled boats, are successfully developed.

Magnetic-field induced shape memory hydrogels for deformable actuators

Magnetic hydrogel actuators exhibit promising applications in the fields of soft robotics, bioactuators, and flexible sensors owing to their inherent advantages such as remote control capability, untethered deformation and motion control, as well as easily manipulable behavior. However, it is still a challenge for magnetic hydrogels to achieve adjustable stiffness and shape fixation under magnetic field actuation deformation. Herein, a simple and effective approach is proposed for the design of magnetic shape memory hydrogels to accomplish this objective. The magnetic shape memory hydrogels, consisting of methacrylamide, methacrylic acid, polyvinyl alcohol and Fe3O4 magnetic particles, which crosslinked by hydrogen bonds, are facilely prepared via one-pot polymerization. The dynamic nature of noncovalent bonds offers the magnetic hydrogels with excellent mechanical properties, precisely controlled stiffness, and effective shape fixation. The presence of Fe3O4 particles renders the hydrogels soft when subjected to an alternating current field, facilitating their deformation under the influence of an actuation magnetic field. After the elimination of the alternating current magnetic field, the hydrogels stiffen and attain a fixed actuated shape in the absence of any external magnetic field. Moreover, this remarkable magnetic shape memory hydrogel is effectively employed as an underwater soft gripper for lifting heavy objects. This work provides a novel strategy for fabricating magnetic hydrogels with non-contact reversible actuation deformation, tunable stiffness and shape locking.

Electrochemically-driven actuators: from materials to mechanisms and from performance to applications

Soft actuators, pivotal for converting external energy into mechanical motion, have become increasingly vital in a wide range of applications, from the subtle engineering of soft robotics to the demanding environments of aerospace exploration. Among these, electrochemically-driven actuators (EC actuators), are particularly distinguished by their operation through ion diffusion or intercalation-induced volume changes. These actuators feature notable advantages, including precise deformation control under electrical stimuli, freedom from Carnot efficiency limitations, and the ability to maintain their actuated state with minimal energy use, akin to the latching state in skeletal muscles. This review extensively examines EC actuators, emphasizing their classification based on diverse material types, driving mechanisms, actuator configurations, and potential applications. It aims to illuminate the complicated driving mechanisms of different categories, uncover their underlying connections, and reveal the interdependencies among materials, mechanisms, and performances. We conduct an in-depth analysis of both conventional and emerging EC actuator materials, casting a forward-looking lens on their trajectories and pinpointing areas ready for innovation and performance enhancement strategies. We also navigate through the challenges and opportunities within the field, including optimizing current materials, exploring new materials, and scaling up production processes. Overall, this review aims to provide a scientifically robust narrative that captures the current state of EC actuators and sets a trajectory for future innovation in this rapidly advancing field.

A strong and tough supramolecular assembled β-cyclodextrin and chitin nanocrystals protein adhesive: Synthesis, characterization, bonding performance on three-layer plywood

The development of a biomass adhesive as a substitute for petroleum-derived adhesives has been considered a viable option. However, achieving both superior bonding strength and toughness in biomass adhesives remains a significant challenge. Inspired by the human skeletal muscles structure, this study reveals a promising supramolecular structure using tannin acid (TA) functionalized poly-β-cyclodextrin (PCD) (TA@PCD) as elastic tissues and chitin nanocrystals (ChNCs) as green reinforcements to strengthen the soybean meal (SM) adhesive crosslinking network. TA@PCD acts as a dynamic crosslinker that facilitates reversible host-guest interactions, hydrogen bonds, and electrostatic interactions between adjacent stiff ChNCs and SM matrix, resulting in satisfactory strength and toughness. The resulting SM/TA@PCD/ChNCs-2 adhesive has demonstrated satisfactory wet and dry shear strength (1.25 MPa and 2.57 MPa, respectively), toughness (0.69 J), and long-term solvents resistance (80 d). Furthermore, the adhesive can exhibit desirable antimildew characteristics owing to the phenol hydroxyl groups of TA and amino groups of ChNCs. This work showcases an effective supramolecular chemistry strategy for fabricating high-performance biomass adhesives with great potential for practical applications.

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.

Stepwisely Assembled Multicomponent Fiber with High Water Content and Superior Mechanical Properties for Artificial Ligament

The ligament, which connects bones at the joints, has both high water content and excellent mechanical properties in living organisms. However, it is still challenging to fabricate fibrous materials that possess high water content and ligament-like mechanical characteristics simultaneously. Herein, the design and preparation of a ligament-mimicking multicomponent fiber is reported through stepwise assembly of polysaccharide, calcium, and dopamine. In simulated body fluid, the resulting fiber has a water content of 40 wt%, while demonstrating strength of ≈120 MPa, a Young's modulus of ≈3 GPa, and a toughness of ≈25 MJ m-3. Additionally, the multicomponent fiber exhibits excellent creep and fatigue resistance, as well as biocompatibility to support cell growth in vitro. These findings suggest that the fiber has potential for engineering high-performance artificial ligament.

Photothermal Conversion of the Oleophilic PVDF/Ti3C2Tx Porous Foam Enables Non-Aqueous Liquid System Applicable Actuator

Various physical and chemical reaction processes occur in non-aqueous liquid systems, particularly in oil phase systems. Therefore, achieving efficient, accurate, controllable, and cost-effective movement and transfer of substances in the oil phase is crucial. Liquid-phase photothermal actuators (LPAs) are commonly used for material transport in liquid-phase systems due to their remote operability and precise control. However, existing LPAs typically rely on materials like hydrogels and flexible polymers, commonly unsuitable for non-aqueous liquids. Herein, a 3D porous poly(vinylidene fluoride) (PVDF)/Ti3C2Tx actuator is developed using a solvent displacement method. It demonstrates directional movement and controlled material transport in non-aqueous liquid systems. When subject to infrared light irradiation (2.0 W cm-2), the actuator achieves motion velocities of 7.3 and 6 mm s-1 vertically and horizontally, respectively. The actuator's controllable motion capability is primarily attributed to the foam's oil-wettable properties, 3D porous oil transport network, and the excellent photothermal conversion performance of Ti3C2Tx, facilitating thermal diffusion and the Marangoni effect. Apart from multidimensional directions, the actuator enables material delivery and obstacle avoidance by transporting and releasing target objects to a predetermined position. Hence, the developed controllable actuator offers a viable solution for effective motion control and material handling in non-aqueous liquid environments.

Bioinspired Supramolecular Hydrogel from Design to Applications

Nature offers a wealth of opportunities to solve scientific and technological issues based on its unique structures and function. The dynamic non-covalent interaction is considered to be the main base of living functions of creatures including humans, animals, and plants. Supramolecular hydrogels formed by non-covalent bonding interactions has become a unique platform for constructing promising materials for medicine, energy, electronic, and biological substitute. In this review, the self-assemble principle of supramolecular hydrogels is summarized. Next, the stimulation of external environment that triggers the assembly or disassembly of supramolecular hydrogels are recapitulated, including temperature, mechanics, light, pH, ions, etc. The main applications of bioinspired supramolecular hydrogels in terms of bionic objects including humans, animals, and plants are also described. Although so many efforts are done for revealing the synergized mechanism of the function and non-covalent interactions on the supramolecular hydrogel, the complexity and variability between stimulus and non-covalent bonding in the supramolecular system still require impeccable theories. As an outlook, the bioinspired supramolecular hydrogel is just beginning to exhibit its great potential in human life, offering significant opportunities in drug delivery and screening, implantable devices and substitutions, tissue engineering, micro-fluidic devices, and biosensors.

Tough Hydrogels with Different Toughening Mechanisms and Applications

Load-bearing biological tissues, such as cartilage and muscles, exhibit several crucial properties, including high elasticity, strength, and recoverability. These characteristics enable these tissues to endure significant mechanical stresses and swiftly recover after deformation, contributing to their exceptional durability and functionality. In contrast, while hydrogels are highly biocompatible and hold promise as synthetic biomaterials, their inherent network structure often limits their ability to simultaneously possess a diverse range of superior mechanical properties. As a result, the applications of hydrogels are significantly constrained. This article delves into the design mechanisms and mechanical properties of various tough hydrogels and investigates their applications in tissue engineering, flexible electronics, and other fields. The objective is to provide insights into the fabrication and application of hydrogels with combined high strength, stretchability, toughness, and fast recovery as well as their future development directions and challenges.

Anisotropically self-oscillating gels by spatially patterned interpenetrating polymer network

Here we introduce sub-millimeter self-oscillating gels that undergo the Belousov-Zhabotinsky (BZ) reaction and can anisotropically oscillate like cardiomyocytes. The anisotropically self-oscillating gels in this study were realized by spatially patterning an acrylic acid-based interpenetrating network (AA-IPN). We found that the patterned AA-IPN regions, locally introduced at both ends of the gels through UV photolithography, can constrain the horizontal gel shape deformation during the BZ reaction. In other words, the two AA-IPN regions could act as a physical barrier to prevent isotropic deformation. Furthermore, we controlled the anisotropic deformation behavior during the BZ reaction by varying the concentration of acrylic acid used in the patterning process of the AA-IPN. As a result, a specific directional deformation behavior (66% horizontal/vertical amplitude ratio) was fulfilled, similar to that of cardiomyocytes. Our study can provide a promising insight to fabricating robust gel systems for cardiomyocyte modeling or designing novel autonomous microscale soft actuators.

Bioinspired Multifunctional Self-Sensing Actuated Gradient Hydrogel for Soft-Hard Robot Remote Interaction

The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO2 nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation (21° s-1) and enhanced photothermal efficiency (increase by 3.7 °C s-1 under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca2+ endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity (gauge factor 3.94 within a wide strain range of 600%), fast response times (140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human-machine interactions.

High-Stroke, High-Output-Force, Fabric-Lattice Artificial Muscles for Soft Robots

Artificial muscles, providing safe and close interaction between humans and machines, are essential in soft robotics. However, their insufficient deformation, output force, or configurability usually limits their applications. Herein, this work presents a class of lightweight fabric-lattice artificial muscles (FAMs) that are pneumatically actuated with large contraction ratios (up to 87.5%) and considerable output forces (up to a load of 20 kg, force-to-weight ratio of over 250). The developed FAMs consist of a group of active air chambers that are zigzag connected into a lattice through passive connecting layers. The geometry of these fabric components is programmable to convert the in-plane lattice of FAMs into out-of-plane configurations (e.g., arched and cylindrical) capable of linear/radial contraction. This work further demonstrates that FAMs can be configured for various soft robotic applications, including the powerful robotic elbow with large motion range and high load capability, the well-fitting assistive shoulder exosuit that can reduce muscle activity during abduction, and the adaptive soft gripper that can grasp irregular objects. These results show the unique features and broad potential of FAMs for high-performance soft robots.

High speed underwater hydrogel robots with programmable motions powered by light

Stimuli-responsive shape-changing hydrogels are attractive candidates for use as underwater soft robots. The bottleneck lies in the low actuation speed inherently limited by the water diffusion between hydrogels and their surrounding environment. In addition, accessing complex motions is restricted by the material fabrication methods. Here we report a hitherto unknown mechanism to achieve high-speed and programmable actuations for a disulfide crosslinked thermally responsive hydrogel. The dynamic photo-activated disulfide bond exchange allows photo-mechanical programming to introduce spatio-selective network anisotropy. This gives rise to an actuation behavior dominated by thermally driven conformation change of the locally oriented polymer chains instead of the common mass-diffusion-based mechanism. With the incorporation of photothermal fillers, light-powered oscillation at frequencies as high as 1.7 Hz is realized. This, coupled with the versatility of the programming, allows access to robots with diverse high-speed motions including continuous swimming, step-wise walking, and rotating.

A Skin-Inspired Multifunctional Conductive Hydrogel with High Stretchable, Adhesive, Healable, and Decomposable Properties for Highly Sensitive Dual-Sensing of Temperature and Strain

Developing smart hydrogels with excellent physicochemical properties and multi-sensing capabilities for various simulation of human skin's functions still remains a great challenge. Here, based on simple and convenient one-step covalent cross-linking method enhanced by dynamic RS-Ag interactions, a skin-inspired multifunctional conductive hydrogel with desirable physicochemical properties (including high stretchability, self-adhesion, self-healing, decomposition and removability) is developed for highly sensitive dual-sensing of temperature and strain. Benefiting from the synergistic action of multiple hydrogen bonds, RS-Ag bonds and S-S bonds, the gel exhibited a novel thermosensitive mechanism. The prepared hydrogels exhibited extremely high mechanical properties (maximum tensile strength of 0.35 MPa, elongation at break nearly 1800%, compressive stress over 4.43 MPa), excellent self-healing (96.82% (stress), 88.45% (temperature), 73.89% (mechanical property)), decomposition (the molecular weight after decomposition is below 700) and self-adhesion (enhanced contact with the material interface). In addition, this conductive hydrogel could also simultaneously achieve highly sensitive temperature-sensing (TCR: 10.89) and stress-sensing (GF: 1.469). As a proof-to-concept, the hydrogel displayed superior capability for simulation of human skin to perception of touch, pressure and ambient temperature simultaneously, indicating promising applications in the fields of wearable devices, personal health care, and human-machine interfaces.

Ultralight, Heat-Insulated, and Tough PVA Hydrogel Hybridized with SiO2 @cellulose Nanoclaws Aerogel via the Synergy of Hydrophilic and Hydrophobic Interfacial Interactions

Lightweight porous hydrogels provide a worldwide scope for functional soft mateirals. However, most porous hydrogels have weak mechanical strength, high density (>1 g cm-3 ), and high heat absorption due to weak interfacial interactions and high solvent fill rates, which severely limit their application in wearable soft-electronic devices. Herein, an effective hybrid hydrogel-aerogel strategy to assemble ultralight, heat-insulated, and tough polyvinyl alcohol (PVA)/SiO2 @cellulose nanoclaws (CNCWs) hydrogels (PSCG) via strong interfacial interactions with hydrogen bonding and hydrophobic interaction is demonstrated. The resultant PSCG has an interesting hierarchical porous structure from bubble template (≈100 µm), PVA hydrogels networks introduced by ice crystals (≈10 µm), and hybrid SiO2 aerogels (<50 nm), respectively. PSCG shows unprecedented low density (0.27 g cm-3 ), high tensile strength (1.6 MPa) & compressive strength (1.5 MPa), excellent heat-insulated ability, and strain-sensitive conductivity. This lightweight porous and tough hydrogel with an ingenious design provides a new way for wearable soft-electronic devices.

Polyurethane Shape Memory Polymer/pH-Responsive Hydrogel Hybrid for Bi-Function Synergistic Actuations

Stimuli-responsive actuating hydrogels response to the external stimulus with complex deformation behaviors based on the programmable anisotropic structure design are one of the most important smart soft materials, which have great potential applications in artificial muscles, smart values, and mini-robots. However, the anisotropic structure of one actuating hydrogel can only be programmed one time, which can only provide single actuating performance, and subsequently, has severely limited their further applications. Herein, we have explored a novel SMP/hydrogel hybrid actuator through combining polyurethane shape memory polymer (PU SMP) layer and pH-responsive polyacrylic-acid (PAA) hydrogel layer by a napkin with UV-adhesive. Owing to both the super-hydrophilicity and super-lipophilicity of the cellulose-fiber based napkin, the SMP and the hydrogel can be bonded firmly by the UV-adhesive in the napkin. More importantly, this bilayer hybrid 2D sheet can be programmed by designing a different temporary shape in heat water which can be fixed easily in cool water to achieve various fixed shapes. This hybrid with a fixed temporary shape can achieve complex actuating performance based on the bi-functional synergy of temperature-triggered SMP and pH-responsive hydrogel. The relatively high modulus PU SMP achieved high to 87.19% and 88.92% shape-fixing ratio, respectively, correspond to bending and folding shapes. The hybrid actuator can actuate with the 25.71 °/min actuating speed. Most importantly, one SMP/hydrogel bi-layer hybrid sheet was repeatedly programmed at least nine times in our research to fix various temporary 1D, 2D and 3D shapes, including bending, folding and spiraling shapes. As a result, only one SMP/hydrogel hybrid can provide various complex stimuli-responsive actuations, including the reversable bending-straightening, spiraling-unspiraling. A few of the intelligent devices have been designed to simulate the movement of the natural organisms, such as bio-mimetic "paw", "pangolin" and "octopus". This work has developed a new SMP/hydrogel hybrid with excellent multi-repeatable (≥9 times) programmability for high-level complex actuations, including the 1D to 2D bending and the 2D to 3D spiraling actuations, which also provides a new strategy to design other new soft intelligent materials and systems.