Soft Actuators Based on Liquid-Crystalline Elastomers

Closed-Loop Recyclable and Totally Renewable Liquid Crystal Networks with Room-Temperature Programmability and Reconfigurable Functionalities

Dynamic covalent liquid crystal networks (DCv-LCNs) with straightforward (re)programmability, reprocessability, and recyclability facilitates the manufacture of sophisticated LCN actuators and intelligent robots. However, the DCv-LCNs are still limited to heat-assisted programming and polymer-to-polymer reprocessing/recycling, which inevitably lead to deterioration of the LCN structures and the actuation performances after repeated programming/processing treatments, owing to the thermal degradation of the polymer network and/or external agent interference. Here, a totally renewable azobenzene-based DCv-LCN with room-temperature programmability and polymer-to-monomers chemical recyclability is reported, which was synthesized by crosslinking the azobenzene-containing dibenzaldehyde monomer and the triamine monomer via the dynamic and dissociable imine bonds. Thanks to the water-activated dynamics of the imine bonds, the resultant DCv-LCN can be simply programmed, upon water-soaking at room temperature, to yield a UV/Vis light-driven actuator. Importantly, the reported DCv-LCN undergoes depolymerization in an acid-solvent medium at room temperature because of the acid-catalyzed hydrolysis of the imine bonds, giving rise to easy separation and recovery of both monomers in high purity, even with tolerance to additives. The recovered pure monomers can be used to regenerate totally new DCv-LCNs and actuators, and their functionalities can be reconfigured by removing old and introducing new additives, by implementing the closed-loop polymer-monomers-polymer recycling.

Time Dependence of Gel Formation in Lyotropic Nematic Liquid Crystals: From Hours to Weeks

The combination of lyotropic liquid crystals (LLCs) and low-molecular-weight gelators (LMWGs) for the formation of lyotropic liquid crystal gels (LLC gels) leads to a versatile and complex material combining properties of both parent systems. We gelled the calamitic nematic NC phases of a binary and ternary system using the LMWG 3,5-bis-(5-hexylcarbamoyl-pentoxy)-benzoic acid hexyl ester (BHPB-6). This binary system consists of the surfactant N,N-dimethyl-N-ethyl-1-hexadecylammonium bromide (CDEAB) and water, whereas the ternary system consists of the surfactant N,N,N-trimethyl-N-tetradecylammonium bromide (C14TAB), the cosurfactant n-decanol, and water. Though containing similar surfactants, the gelled NC phases of the binary and ternary systems show differences in their visual and gel properties. The gelled NC phase of the binary system remains clear for several days after preparation, whereas the gelled NC phase of the ternary system turns turbid within 24 h. We investigated the time evolution of the gel strength with oscillation rheology measurements (a) within the first 24 h and (b) up to two weeks after gel formation. The shape of the fibers was investigated over different time scales with freeze fracture electron microscopy (FFEM). We demonstrate that despite their similarities, the two LLC gels also have distinct differences.

Magnetic-responsive Covalent Adaptable Networks

Covalent adaptable networks (CANs) are reprocessable polymers whose structural arrangement is based on the recombination of dynamic covalent bonds. Composite materials prepared by incorporating magnetic particles into CANs attract much attention due to their remote and precise control, fast response speed, high biological safety and strong penetration of magnetic stimuli. These properties often involve magnetothermal effect and direct magnetic-field guidance. Besides, some of them can also respond to light, electricity or pH values. Thus, they are favorable for soft actuators since various functions are achieved such as magnetic-assisted self-healing (heating or at ambient temperature), welding (on land or under water), shape-morphing, and so on. Although magnetic CANs just start to be studied in recent two years, their advances are promised to expand the practical applications in both cutting-edge academic and engineering fields. This review aims to summarize recent progress in magnetic-responsive CANs, including their design, synthesis and application.

Light Modulated Reversible "On-Off" Transformation of Arylazoheteroarene Based Discotics in Nematic Organization

Three benzene-1,3,5-tricarboxamide (BTA) core-based molecular systems appended with phenylazo-3,5-dimethylisoxazole photoswitches at the peripheral position through variable-length alkoxy chains have been designed and synthesized. The supramolecular interactions of the mesogens provided discotic nematic liquid crystalline assembly as confirmed by polarized optical microscopy (POM) and X-ray diffraction (XRD) studies. Spectroscopic studies confirmed the reversible photoswitching and excellent thermal stability of the photoswitched states in solution phase and thin film. Also, atomic force microscopic (AFM) and POM investigations demonstrated the morphological changes in the self-assembly induced by the photoirradiation as monitored by the changes in the height profiles and optical appearance of the textures, respectively. Remarkably, the liquid crystalline discotic molecules showed reversible "on and off states" controlled by light at ambient temperature.

Induction of Highly Ordered Liquid Crystalline Phase of an Azobenzene Side Chain Polymer by Contact with 4'-Pentyl-4-cyanobiphenyl: An In Situ Study

The orientation of liquid crystal (LC) molecules is significantly governed by solid interfaces and free surfaces, and a variety of functional materials have been developed using these properties. Although LC materials are already in industrial use, particularly for LC display panels, various studies have been conducted in recent years to better grasp the interface behavior of LC molecules. In this work, we succeeded in in situ observations of induction of higher ordered LC phases at the interface between a side-chain LC azobenzene polymer film with a thickness of ∼400 nm and a low-molecular-mass nematic LC, 4'-pentyl-4-cyanobiphenyl of 35 μm thickness, using small-angle X-ray scattering measurements and polarized optical microscopy. It is revealed that the two different mesogens cooperatively form hybrid higher ordered smectic LC phases probably through weak electron transfer immediately after interfacial contact. The induction process consists of three stages in terms of dynamic structure evolutions. Upon UV irradiation, the hybrid smectic LC structure diminished. This study provides new insights into the behavior of LC molecules near the alignment film on the solid substrate.

Alleviation of Residual Vibrations in Hard-Magnetic Soft Actuators Using a Command-Shaping Scheme

Hard-magnetic soft materials belong to a class of the highly deformable magneto-active elastomer family of smart materials and provide a promising technology for flexible electronics, soft robots, and functional metamaterials. When hard-magnetic soft actuators are driven by a multiple-step input signal (Heaviside magnetic field signal), the residual oscillations exhibited by the actuator about equilibrium positions may limit their performance and accuracy in practical applications. This work aims at developing a command-shaping scheme for alleviating residual vibrations in a magnetically driven planar hard-magnetic soft actuator. The control scheme is based on the balance of magnetic and elastic forces at a critical point in an oscillation cycle. The equation governing the dynamics of the actuator is devised using the Euler–Lagrange equation. The constitutive behaviour of the hard-magnetic soft material is modeled using the Gent model of hyperelasticity, which accounts for the strain-stiffening effects. The dynamic response of the actuator under a step input signal is obtained by numerically solving the devised dynamic governing equation using MATLAB ODE solver. To demonstrate the applicability of the developed command-shaping scheme, a thorough investigation showing the effect of various parameters such as material damping, the sequence of desired equilibrium positions, and polymer chain extensibility on the performance of the proposed scheme is performed. The designed control scheme is found to be effective in controlling the motion of the hard-magnetic soft actuator at any desired equilibrium position. The present study can find its potential application in the design and development of an open-loop controller for hard-magnetic soft actuators.

Dynamics of the photo-thermo-mechanical actuations in NIR-dye doped liquid crystal polymer networks

We describe photo-thermo-mechanical actuation and its dynamics in thin films of a liquid crystal networks (LCN) under near infrared (NIR) illumination through experiments and simulations. Splay aligned films of different thicknesses (25 μm to 100 μm) were obtained by crosslinking a mixture of mono-functional and bi-functional liquid crystal monomers. The NIR-driven thermo-mechanical actuation was achieved by adding an NIR dye to the monomer mixture. The absorption of incoming radiation by the dye molecules raises the local temperature of the film causing an order-disorder (nematic-isotropic) transition, thereby resulting in a macroscopic shape change. We have investigated the effect of film thickness, NIR laser power and dye concentration on the tip displacement of the films in a cantilever configuration. The experimental findings and finite element simulation results are in reasonably good quantitative agreement. Despite using lower NIR powers than typically employed, the films show high actuation and large displacements. After achieving saturation in actuation, the films exhibit a flutter behavior which is discussed in light of the observed overshoot in the tip displacement for certain intensities and thicknesses. Finally, using a solar simulator, we also show the visible light response of the film.

Reversible Photo-Induced Reshaping of Imprinted Microstructures Using a Low Molecular Azo Dye

A blend of low molecular azo glass (AZOPD) and polystyrene (PS) were used for the systematic investigation of photo-induced stretching and recovery of nanoimprinted structures. For this purpose, light and heat was used as recovery stimuli. The AZOPD/PS microstructures, fabricated with thermal nanoimprint lithography (tNIL), comprises three different shapes (circles, crosses and squares) and various concentrations of AZOPD fractions. The results show a concentration-dependent reshaping. Particularly the sample with 43 w-% of the AZOPD fraction have shown the best controllable recovery for the used parameters. A possible explanation for shape recovery might be the stabilizing effect of the PS-matrix.

Materials for Smart Soft Actuator Systems

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

Ultrafast Digital Fabrication of Designable Architectured Liquid Crystalline Elastomer

The muscle-like activities of liquid crystalline elastomers (LCEs) offer great potential for designing future soft machines. Their motion complexity, however, relies on inflexible and cumbersome mesogen alignment techniques. Here, a digital photocuring method for ultrafast template-free fabrication of LCE artificial muscles capable of designable complex motions is reported. This method utilizes the intrinsic light attenuation in the through-plane direction to create mesogen alignment for reversible bending action. To turn this simple actuation into complex motions, the principles of muscles are borrowed which realize diverse motions through the cooperative actions of otherwise simple contraction/expansion of individual muscle bundles. Specifically, the spatiotemporal digital light is utilized to design LCE architectures composed of strategically arranged bending modules. As such, LCE capable of highly designable motions can be fabricated within 25 s light curing without employing any physical alignment templates, which offers an attractive option toward designing functionally diverse soft machines.

Coupled liquid crystalline oscillators in Huygens' synchrony

In the flourishing field of soft robotics, strategies to embody communication and collective motion are scarce. Here we report the synchronized oscillations of thin plastic actuators by an approach reminiscent of the synchronized motion of pendula and metronomes. Two liquid crystalline network oscillators fuelled by light influence the movement of one another and display synchronized oscillations in-phase and anti-phase in a steady state. By observing entrainment between the asymmetric oscillators we demonstrate the existence of coupling between the two actuators. We qualitatively explain the origin of the synchronized motion using a theoretical model and numerical simulations, which suggest that the motion can be tuned by the mechanical properties of the coupling joint. We thus anticipate that the complex synchronization phenomena usually observed in rigid systems can also exist in soft polymeric materials. This enables the use of new stimuli, featuring an example of collective motion by photo-actuation.

Textiles in soft robots: Current progress and future trends

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

Biomimetic Prosthetic Hand Enabled by Liquid Crystal Elastomer Tendons

As one of the most important prosthetic implants for amputees, current commercially available prosthetic hands are still too bulky, heavy, expensive, complex and inefficient. Here, we present a study that utilizes the artificial tendon to drive the motion of fingers in a biomimetic prosthetic hand. The artificial tendon is realized by combining liquid crystal elastomer (LCE) and liquid metal (LM) heating element. A joule heating-induced temperature increase in the LCE tendon leads to linear contraction, which drives the fingers of the biomimetic prosthetic hand to bend in a way similar to the human hand. The responses of the LCE tendon to joule heating, including temperature increase, contraction strain and contraction stress, are characterized. The strategies of achieving a constant contraction stress in an LCE tendon and accelerating the cooling for faster actuation are also explored. This biomimetic prosthetic hand is demonstrated to be able to perform complex tasks including making different hand gestures, holding objects of different sizes and shapes, and carrying weights. The results can find applications in not only prosthetics, but also robots and soft machines.

Bio-Inspired Soft Grippers Based on Impactive Gripping

Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bird feet are composed of rigid frames and soft joints. Compared with human hands, some plants like Drosera do not have rigid frames, so they can bend at arbitrary points of the body to capture their prey. Furthermore, many muscular hydrostat animals and plant tendrils can implement more complex twisting motions in 3D space. Recently, inspired by the flexible grasping methods present in nature, increasingly more bio-inspired soft grippers have been fabricated with compliant and soft materials. Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping. According to their types of movement and a classification model inspired by biological "grippers", soft grippers are classified into three types, namely, non-continuum bending-type grippers, continuum bending-type grippers, and continuum twisting-type grippers. An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Investigation of UV-vis spectra of azobenzene containing carboxyl groups

UV-vis spectra of azobenzene containing carboxyl group were investigated by using density functional theory calculations. The calculation results show that substitutions of carboxyl groups have no obvious effect on the coplanarity of azobenzene. Compared with azobenzene, the wavelength of maximum absorption of P-COOH-trans has obvious red shift and the wavelength of maximum absorption of M-COOH-trans has blue shift in UV-vis spectra. In addition, P-COOH and M-COOH were synthesized, and their structures were determined by Fourier transform infrared(FT-IR),and their UV-vis spectra. The calculation results are in good agreement with the experimental data.

Photochemically and Photothermally Controllable Liquid Crystalline Network and Soft Walkers

Developing intelligent soft robots capable to perform various responses to different stimulations has been a hot topic in recent years. Liquid crystalline networks (LCNs) have been considered as one of the most promising candidates in the fabrication of soft actuators because of the combination of elasticity of the polymer and anisotropy of the liquid crystals. However, the design and fabrication of advanced LCN materials with outstanding performances and multiple responsivities is highly demanded but still a challenge. In this work, a NIR-UV dual light-responsive LCN actuator was prepared by selectively coating a polydopamine (PDA) layer on an azobenzene-doped LCN film. This actuator presents UV responsivity in the uncoated region because of the photochemical isomerization of azobenzene and NIR sensitivity in the PDA-coated region originated from the striking photothermal effect. Thanks to the reprogrammable PDA coating, this dual-responsive LCN actuator was totally reprogrammable by coating and washing the PDA layer repeatedly. Based on the novel soft actuator, an artificial car that can imitate the switch of the "forward gear" to "neutral gear" of a real car was prepared. In normal mode, the actuator can move forward under NIR irradiation. After UV light excitation, the actuator cannot move under the same NIR irradiation, just like the car with the level in neutral. This novel actuator may provide inspirations for the fabrication of light-driven functional devices and soft actuators.

Synergistic structures in lyotropic lamellar gels

In this work we present a systematic study on the microstructure of soft materials which combine the anisotropy of lyotropic liquid crystals with the mechanical stability of a physical gel. Systematic small-angle neutron (SANS) and X-ray (SAXS) scattering experiments were successfully used to characterize the lyotropic lamellar phase (L_α) of the system D₂O -n-decanol - SDS which was gelled by two low molecular weight organogelators, 1,3:2,4-dibenzylidene-d-sorbitol (DBS) and 12-hydroxyoctadecanoic acid (12-HOA). Surprisingly, a pronounced shoulder appeared in the scattering curves of the lamellar phase gelled with 12-HOA, whereas the curves of the DBS-gelled L_α phase remained almost unchanged compared to the ones of the gelator-free L_α phase. The appearance of this additional shoulder strongly indicates the formation of a synergistic structure, which neither exists in the gelator-free L_α phase nor in the isotropic binary gel. By comparing the thicknesses of the 12-HOA (25-30 nm) and DBS (4-8 nm) gel fibers with the lamellar repeat distance (7.5 nm), we suggest that the synergistic structure originates from the minimization of the elastic free energy of the lamellar phase. In the case of 12-HOA, where the fiber diameter is significantly larger than the lamellar repeat distance, energetically unfavored layer ends can be prevented, when the layers cylindrically enclose the gel fibers. Interestingly, such structures mimic similar schemes found in neural cells, where axons are surrounded by lamellar myelin sheets.

Shape-adaptable biodevices for wearable and implantable applications

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

Photoinduced Strain-Assisted Synthesis of a Stiff-Stilbene Polymer by Ring-Opening Metathesis Polymerization

Developing a novel strategy to synthesize photoresponsive polymers is of significance owing to their potential applications. We report a photoinduced strain-assisted synthesis of main-chain stiff-stilbene polymers by using ring-opening metathesis polymerization (ROMP), activating a macrocyclic π-bond connected to a stiff-stilbene photoswitch through a linker. Since the linker acts as an external constraint, the photoisomerization to the E-form leads to the stiff-stilbene being strained and thus reactive to ROMP. The photoisomerization of Z-form to E-form was investigated using time-dependent NMR studies and UV/Vis spectroscopy. The DFT calculation showed that the E-form was less stable due to a lack of planarity. By the internal strain developed due to the linker constraint through photoisomerization, the E-form underwent ROMP by a second generation Grubbs catalyst. In contrast, Z-form did not undergo polymerization under similar conditions. The MALDI-TOF spectrum of E-form after polymerization showed the presence of oligomers of >5.2 kDa.

Performance Enhancement of Soft Nanotextured Thermopneumatic Actuator by Incorporating Silver Nanowires into Elastomer Body

To improve performance of thermopneumatic soft actuators, which have recently been developed for various industrial applications, we embedded different nanoscale materials into their elastomer bodies. This yields a significant enhancement in the actuator performance via improving the mechanical and thermal properties of the elastomer bodies. In addition, the use of nanoinclusions diminished losses of the working fluid from the actuators by decreasing vapor leaks through the elastomer body and thus improving longevity. Notably, when using different working fluids with low boiling temperatures, the operating temperature range of the actuators can be lowered and widened. The hybrid approach proposed in this study is expected to advance the industrial feasibility of thermopneumatic actuators.

In Situ Controlled Construction of a Hierarchical Supramolecular Chiral Liquid-Crystalline Polymer Assembly

Hierarchical supramolecular chiral liquid-crystalline (LC) polymer assemblies are challenging to construct in situ in a controlled manner. Now, polymerization-induced chiral self-assembly (PICSA) is reported. Hierarchical supramolecular chiral azobenzene-containing block copolymer (Azo-BCP) assemblies were constructed with π-π stacking interactions occurring in the layered structure of Azo smectic phases. The evolution of chirality from terminal alkyl chain to Azo mesogen building blocks and further induction of supramolecular chirality in LC BCP assemblies during PICSA is achieved. Morphologies such as spheres, worms, helical fibers, lamellae, and vesicles were observed. The morphological transition had a crucial effect on the chiral expression of Azo-BCP assemblies. The supramolecular chirality of Azo-BCP assemblies destroyed by 365 nm UV irradiation can be recovered by heating-cooling treatment; this dynamic reversible achiral-chiral switching can be repeated at least five times.

A Review on Liquid Crystal Polymers in Free-Standing Reversible Shape Memory Materials

Liquid crystal polymers have attracted massive attention as stimuli-responsive shape memory materials due to their unique reversible large-scale and high-speed actuations. These materials can be utilized to fabricate artificial muscles, sensors, and actuators driven by thermal order–disorder phase transition or trans–cis photoisomerization. This review collects most commonly used liquid crystal monomers and techniques to macroscopically order and align liquid crystal materials (monodomain), highlighting the unique materials on the thermal and photo responsive reversible shape memory effects. Challenges and potential future applications are also discussed.

"Self-Lockable" Liquid Crystalline Diels-Alder Dynamic Network Actuators with Room Temperature Programmability and Solution Reprocessability

Novel main-chain liquid crystalline Diels-Alder dynamic networks (LCDANs) were prepared that exhibit unprecedented ease for actuator programming and reprocessing compared to existing liquid crystalline network (LCN) systems. Following cooling from 125 °C, LCDANs are deformed with aligned mesogens self-locked at room temperature by slowly formed Diels-Alder (DA) bonds, which allows for the formation of solid 3D actuators capable of reversible shape change, and strip walker and wheel-capable light-driven locomotion upon either thermally or optically induced order-disorder phase transition. Any actuator can readily be erased at 125 °C and reprogrammed into a new one under ambient conditions. Moreover, LCDANs can be processed directly from melt (for example, fiber drawing) and from solution (for example, casting tubular actuators), which cannot be achieved with LCNs using exchangeable covalent bonds. The combined attributes of LCDANs offer significant progress toward developing easily programmable/processable LCN actuators.

Seamless multimaterial 3D liquid-crystalline elastomer actuators for next-generation entirely soft robots

Liquid-crystalline elastomers (LCEs) are excellent soft actuator materials for a wide range of applications, especially the blooming area of soft robotics. For entirely soft LCE robots to exhibit high dexterity and complicated performance, several components are typically required to be integrated together in one single robot body. Here, we show that seamless multicomponent/multimaterial three-dimensional (3D) LCE robots can be created via simultaneously welding and aligning LCE materials with different chemical compositions and physical properties without other additives such as tapes and glues (just like metal welding). Both welding and aligning of the LCE materials rely on thermal polymerization of preformed LCE films with reactive acrylate groups. This method provides an easy way to robustly fabricate arbitrary 3D desirable geometries with strongly stable reversible actuations and multifunctionalities, which greatly enlarges and benefits the future applications and manufacturing of LCE soft robots.

Surface Structures, Particles, and Fibers of Shape-Memory Polymers at Micro-/Nanoscale

Shape-memory polymers (SMPs) are one kind of smart polymers and can change their shapes in a predefined manner under stimuli. Shape-memory effect (SME) is not a unique ability for specific polymeric materials but results from the combination of a tailored shape-memory creation procedure (SMCP) and suitable molecular architecture that consists of netpoints and switching domains. In the last decade, the trend toward the exploration of SMPs to recover structures at micro-/nanoscale occurs with the development of SMPs. Here, the progress of the exploration in micro-/nanoscale structures, particles, and fibers of SMPs is reviewed. The preparation method, SMCP, characterization of SME, and applications of surface structures, free-standing particles, and fibers of SMPs at micro-/nanoscale are summarized.

Dual Light and Temperature Responsive Micrometer-Sized Structural Color Actuators

Externally induced color- and shape-changes in micrometer-sized objects are of great interest in novel application fields such as optofluidics and microrobotics. In this work, light and temperature responsive micrometer-sized structural color actuators based on cholesteric liquid-crystalline (CLC) polymer particles are presented. The particles are synthesized by suspension polymerization using a reactive CLC monomer mixture having a light responsive azobenzene dye. The particles exhibit anisotropic spot-like and arc-like reflective colored domains ranging from red to blue. Electron microscopy reveals a multidirectional asymmetric arrangement of the cholesteric layers in the particles and numerical simulations elucidate the anisotropic optical properties. Upon light exposure, the particles show reversible asymmetric shape deformations combined with structural color changes. When the temperature is increased above the liquid crystal-isotropic phase transition temperature of the particles, the deformation is followed by a reduction or disappearance of the reflection. Such dual light and temperature responsive structural color actuators are interesting for a variety of micrometer-sized devices.

Polymer actuators based on covalent adaptable networks

Advances in polymer actuators containing covalent adaptable networks (CANs) are summarized and discussed in this review.

Liquid crystal elastomers as substrates for 3D, robust, implantable electronics

Liquid crystal elastomers are used as substrates for robust, implantable electronics that are planar processed then morph into 3D shapes.

Gelation of Lyotropic Liquid-Crystal Phases-The Interplay between Liquid Crystalline Order and Physical Gel Formation

We present a systematical investigation of gelled lyotropic liquid crystals (LLCs). This new class of soft materials combines the anisotropy of LLCs with the mechanical stability of a physical gel. The studied LLC system consists of sodium dodecyl sulfate as a surfactant, n-decanol as a cosurfactant, and water as a solvent. At room temperature, four liquid crystalline phases (lamellar L_α, nematic N_d and N_c, and hexagonal H₁) are formed depending on the composition. We were successful in gelling the lyotropic lamellar phase with the low-molecular-weight organogelator 12-hydroxyoctadecanoic acid (12-HOA). The obtained gelled lamellar phase shows optical birefringence, elastic response, and no macroscopic flow. However, we were not able to obtain gels with hexagonal or nematic structure. These findings can be explained twofold. When gelling the hexagonal phase, the long-range hexagonal order was destroyed and an isotropic gel was formed. The reason might be the incompatibility between the gel fiber network and the two-dimensional long-range translational order of the cylindrical micelles in the hexagonal phase. Otherwise, the lyotropic nematic phase was transformed into an anisotropic gel with the lamellar structure during gelation. Evidently, the addition of the gelator 12-HOA to the lyotropic system considerably widens the lamellar regime because the integration of the surface-active 12-HOA gelator molecules into the nematic micelles flattens out the micelle curvature. We further investigated the successfully gelated L_α phase to examine the impacts of the gel network and the remaining monomeric gelator on both the structure and properties of the gelled lamellar phase. Small-angle X-ray scattering results showed an arrested lamellar layer spacing in the gelled state, which indicates a higher translational order for the gelled lamellar phases in comparison with their gelator-free counterparts.

Design of Collective Motions from Synthetic Molecular Switches, Rotors, and Motors

Precise control over molecular movement is of fundamental and practical importance in physics, biology, and chemistry. At nanoscale, the peculiar functioning principles and the synthesis of individual molecular actuators and machines has been the subject of intense investigations and debates over the past 60 years. In this review, we focus on the design of collective motions that are achieved by integrating, in space and time, several or many of these individual mechanical units together. In particular, we provide an in-depth look at the intermolecular couplings used to physically connect a number of artificial mechanically active molecular units such as photochromic molecular switches, nanomachines based on mechanical bonds, molecular rotors, and light-powered rotary motors. We highlight the various functioning principles that can lead to their collective motion at various length scales. We also emphasize how their synchronized, or desynchronized, mechanical behavior can lead to emerging functional properties and to their implementation into new active devices and materials.

Photodeformable Azobenzene-Containing Liquid Crystal Polymers and Soft Actuators

Photodeformable liquid crystal polymers (LCPs) that adapt their shapes in response to light have aroused a dramatic growth of interest in the past decades, since light as a stimulus enables the remote control and diverse deformations of materials. This review focuses on the growing research on photodeformable LCPs, including their basic actuation mechanisms, the various deformation modes, the newly designed molecular structures, and the improvement of processing techniques. Special attention is devoted to the novel molecular structures of LCPs, which allow for easy processing and alignment. The soft actuators with various deformation modes such as bending, twisting, and rolling in response to light are also covered with the emphasis on their photo-induced bionic functions. Potential applications in energy harvesting, self-cleaning surfaces, sensors, and photo-controlled microfluidics are further illustrated. The existing challenges and future directions are discussed at the end of this review.

Design Parameters and Principles of Liquid-Crystal-Templated Synthesis of Polymeric Materials via Photolithography

The design parameters and principles for the synthesis of polymeric microscopic objects using a method that combines photolithography and liquid crystal (LC) molecular templates have been demonstrated. Specifically, mixtures of a reactive mesogen (RM257) and nonreactive LC (E7) were polymerized using UV light and a photomask. We used photomasks with circular, triangular, rectangular, square, star-shaped, and heart-shaped features to provide initial shapes to the objects. Then, the unreacted parts were extracted and the polymeric objects were allowed to shrink anisotropically as defined by the ordering symmetry of the LC mixture. The initial configuration of the LC mixtures played a critical role in determining the final shapes of the polymeric objects formed after shrinking, which resulted in chiral twisting and bending, leading to more than 20 different shapes. We found that the pitch size of the bulk chiral twisted objects depends linearly on the angle of chiral twist of the LCs, whereas it was independent of their thickness and length ranging from 1.5 to 160 μm and 100 μm to 2.45 cm, respectively. The shapes of the polymeric objects synthesized from LC films with bent LC ordering, however, were critically dependent on the thickness of the objects due to the interplay between the elastic energy and surface anchoring of the LCs. The critical role of LC elasticity was observed for thicknesses below 20 μm, above which surface anchoring was dominant in determining the shapes. Overall, the proposed method was shown to provide a precise control over the three-dimensional architectures of the objects with size range that covers the micro and macro scales, which would find use in fields ranging from emulsion stabilization and catalysis to micromachines and artificial muscles.

Novel liquid crystal photonic devices enabled by two-photon polymerization [Invited]

In addition to displays, liquid crystals (LCs) have also found widespread applications in photonic devices, such as adaptive lens, adaptive optics, and sensors, because of their responses to electric field, temperature, and light. As the fabrication technique advances, more sophisticated devices can be designed and created. In this review, we report recent advances of two-photon polymerization-based direct-laser writing enabled LC devices. Firstly, we describe the basic working principle of two-photon polymerization. With this powerful fabrication technique, we can generate anchoring energy by surface morphology to align LC directors on different form factors. To prove this concept, we demonstrate LC alignment on planar, curvilinear surfaces as well as in three-dimensional volumes. Based on the results, we further propose a novel, ultra-broadband, twisted-nematic diffractive waveplate that can potentially be fulfilled by this technique. Next, we briefly discuss the current status of direct-laser writing on LC reactive mesogens and its potential applications. Finally, we present two design challenges: fabrication yield and polymer relaxation/deformation, remaining to be overcome.

Durable liquid-crystalline vitrimer actuators

Vitrimer-based liquid-crystalline elastomers (LCEs) exhibit great advantages over the traditional LCEs due to their inherent processability to realize monodomain alignment and construction of LCE actuators with complex 3D structures in a robust way. Though exciting progress has been made, how to achieve a proper balance between processability and actuation durability/stability remains a big challenge. Here, we report a strategy to mitigate the conflict between processability and actuation stability by reducing the catalyst content in an epoxy/acid LCE vitrimer system. With a relatively low catalyst content (0.25 mol% to carboxyl group), monodomain LCEs with large actuation strain (∼95%) and excellent actuation stability (the actuation strain is completely maintained after 100 heating-cooling cycles and more than 90% of the initial strain is retained even after 500 cycles) could be easily prepared. Moreover, the monodomain LCEs can still be readily realigned or directly reconfigured into complex reversible 3D actuators.

Organic Molecule-Driven Polymeric Actuators

Inspired by the motions of plant tissues in response to external stimuli, significant attention has been devoted to the development of actuating polymeric materials. In particular, polymeric actuators driven by organic molecules have been designed due to their combined superiorities of tunable functional monomers, designable chemical structures, and variable structural anisotropy. Here, the recent progress is summarized in terms of material synthesis, structure design, polymer-solvent interaction, and actuating performance. In addition, various possibilities for practical applications, including the ability to sense chemical vapors and solvent isomers, and future directions to satisfy the requirement of sensing and smart systems are also highlighted.

Programmable soft robotics based on nano-textured thermo-responsive actuators

Soft robotic systems are increasingly emerging as robust alternatives to conventional robotics. Here, we demonstrate the development of programmable soft actuators based on volume expansion/retraction accompanying liquid-vapor phase transition of a phase-change material confined within an elastomer matrix. The combination of a soft matrix (a silicone-based elastomer) and an embedded ethanol-impregnated polyacrylonitrile nanofiber (PAN NF) mat makes it possible to form a sealed compound device that can be operated by changing the actuator temperature above/below the boiling point of ethanol. The thermo-responsive actuators based on this principle demonstrate excellent bending ability at a sufficiently high temperature (>90 °C) - comparable with compressed air-based soft actuators. The actuator using the mechanism presented here is easy to manufacture and automate and is recyclable. Finally, the actuation mechanism can be incorporated into a wide variety of shapes and configurations, making it possible to obtain tunable and programmable soft robots that could have a wide variety of industrial applications.

Photoresponsive polymers with multi-azobenzene groups

Photoresponsive polymers with multi-azobenzene groups are reviewed and their potential applications in photoactuation, photo-patterning, and photoinduced birefringence are introduced.

2D-to-3D Shape Transformation of Room-Temperature-Programmable Shape-Memory Polymers through Selective Suppression of Strain Relaxation

Although shape-memory polymers (SMPs) can alter their shapes upon stimulation of environmental signals, complex shape transformations are usually realized by using advanced processing technologies (four-dimensional printing) and complicated polymer structure design or localized activation. Herein, we demonstrate that stepwise controlled complex shape transformations can be obtained from a single flat piece of SMP upon uniform heating. The shape-memory blends prepared by solution casting of poly(ethylene oxide) and poly(acrylic acid) (PAA) exhibit excellent mechanical and room-temperature shape-memory behaviors, with fracture strain beyond 800% and both shape memory and shape recovery ratio higher than 90%. After plastic deformation by stretching under ambient conditions, the material is surface-patterned to induce the formation of an Fe³⁺-coordinated PAA network with gradually altered cross-linking density along the thickness direction at desired areas. Upon subsequent heating for shape recovery, strain release is restricted by the PAA network to different extents depending on the cross-linking density, which results in bending deformation toward the nonpatterned side and leads to three-dimensional shape transformation of the SMP. More interestingly, by sequentially dissociating the PAA network via UV or visible light-induced photoreduction of Fe³⁺ to Fe²⁺, residual strains can be removed in a spatially controlled manner. Using this approach, a series of origami shapes are obtained from a single SMP with a tailored two-dimensional initial shape. We also demonstrate that by incorporating polydopamine nanoparticles as photothermal fillers into the material, the whole shape transformation process can be carried out at room temperature by using near-infrared light.

New insights into the nature of semi-soft elasticity and "mechanical-Fréedericksz transitions" in liquid crystal elastomers

The mechanical properties of an all-acrylate liquid crystal elastomer (LCE) with a glass transition of 14 ± 1 °C are reported. The highly nonlinear load curve has a characteristic shape associated with semi-soft elasticity (SSE). Conversely, measurements of the director orientation throughout tensile loading instead indicate a "mechanical-Fréedericksz" transition (MFT). Values of the step length anisotropy, r, are independently calculated from the theories of SSE (r = 3.2 ± 0.4), MFT (9.3 < r < 30.0) and thermally-induced length change (r = 3.8 ± 0.5). From simultaneously recorded polarising microscopy textures, the consequences of the above discrepancies are considered. Further, a mechanically-induced negative order parameter is observed. Results show the tensile load curve shape cannot solely be used to determine the underlying physics. Consequently, the LCE properties cannot be fully described by theories of SSE or MFTs alone. This suggests that the theory of LCEs is not yet complete. The conclusions suggest that both the LC order parameter and r must be functions of the mechanical deformation.