Room-temperature versus heating-mediated healing of a Diels-Alder crosslinked polymer network

Assisted damage closure and healing in soft robots by shape memory alloy wires

Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention.

An Interdisciplinary Tutorial: A Self-Healing Soft Finger with Embedded Sensor

In the field of soft robotics, knowledge of material science is becoming more and more important. However, many researchers have a background in only one of both domains. To aid the understanding of the other domain, this tutorial describes the complete process from polymer synthesis over fabrication to testing of a soft finger. Enough background is provided during the tutorial such that researchers from both fields can understand and sharpen their knowledge. Self-healing polymers are used in this tutorial, showing that these polymers that were once a specialty, have become accessible for broader use. The use of self-healing polymers allows soft robots to recover from fatal damage, as shown in this tutorial, which increases their lifespan significantly.

Magnetic Self-Healing Composites: Synthesis and Applications

Magnetic composites and self-healing materials have been drawing much attention in their respective fields of application. Magnetic fillers enable changes in the material properties of objects, in the shapes and structures of objects, and ultimately in the motion and actuation of objects in response to the application of an external field. Self-healing materials possess the ability to repair incurred damage and consequently recover the functional properties during healing. The combination of these two unique features results in important advances in both fields. First, the self-healing ability enables the recovery of the magnetic properties of magnetic composites and structures to extend their service lifetimes in applications such as robotics and biomedicine. Second, magnetic (nano)particles offer many opportunities to improve the healing performance of the resulting self-healing magnetic composites. Magnetic fillers are used for the remote activation of thermal healing through inductive heating and for the closure of large damage by applying an alternating or constant external magnetic field, respectively. Furthermore, hard magnetic particles can be used to permanently magnetize self-healing composites to autonomously re-join severed parts. This paper reviews the synthesis, processing and manufacturing of magnetic self-healing composites for applications in health, robotic actuation, flexible electronics, and many more.

Hydrogen-Bond-Assisted Diels–Alder Kinetics or Self-Healing in Reversible Polymer Networks? A Combined Experimental and Theoretical Study

Diels–Alder (DA) cycloadditions in reversible polymer networks are important for designing sustainable materials with self-healing properties. In this study, the DA kinetics of hydroxyl-substituted bis- and tetrafunctional furans with bis- and tris-functional maleimides, both containing ether-functionalized spacers, is investigated by modelling two equilibria representing the endo and exo cycloadduct formation. Concretely, the potential catalysis of the DA reaction through hydrogen bonding between hydroxyl of the furans and carbonyl of the maleimides or ether of the spacers is experimentally and theoretically scrutinized. Initial reaction rates and forward DA rate constants are determined by microcalorimetry at 20 °C for a model series of reversible networks, extended with (i) a hydroxyl-free network and hydroxyl-free linear or branched systems, and (ii) polypropylene glycol additives, increasing the hydroxyl concentration. A computational density-functional theory study is carried out on the endo and exo cycloadditions of furan and maleimide derivatives, representative for the experimental ones, in the absence and presence of ethylene glycol as additive. Additionally, an ester-substituted furan was investigated as a hydroxyl-free system for comparison. Experiment and theory indicate that the catalytic effect of H-bonding is absent or very limited. While increased concentration of H-bonding could in theory catalyze the DA reaction, the experimental results rule out this supposition.

Trends in the Diels-Alder reaction in polymer chemistry

The Diels-Alder (DA) reaction is regarded as quite a useful strategy in organic and macromolecular syntheses. The reversibility of this reaction and the advent of self-repair technology, as well as other applications in controlled macromolecular architectures and crosslinking, have strongly boosted the research activity, which is still attracting a huge interest in both academic and industrial research. The DA reaction is a simple and scalable toolbox. Though it is well-established that furan/maleimide is the most studied diene/dienophile couple, this perspective article reports strategies using other reversible systems with deeper features on other types of diene/dienophile pairs being either petro-sourced (cyclopentadiene, anthracene) or bio-sourced (muconic and sorbic acids, myrcene and farnesene derivatives, eugenol, cardanol). This review is composed of four sections. The first one briefly recalls the background on the DA reactions involving cyclodimerizations, dienes, and dienophiles, parameters affecting the reaction, while the second part deals with the furan/maleimide reaction. The third one deals with petro-sourced and bio-sourced (or products becoming bio-sourced) reactants involved in DA reactions are also listed and discussed. Finally, the authors' opinion is given on the potential future of the crosslinking-decrosslinking reaction, especially regarding the process (e.g., key temperatures of decrosslinking) or possibly monocomponents. It presents both fundamental and applied research on the DA reaction and its applications.

Self-Healing in Mobility-Restricted Conditions Maintaining Mechanical Robustness: Furan-Maleimide Diels-Alder Cycloadditions in Polymer Networks for Ambient Applications

Two reversible polymer networks, based on Diels–Alder cycloadditions, are selected to discuss the opportunities of mobility-controlled self-healing in ambient conditions for which information is lacking in literature. The main methods for this study are (modulated temperature) differential scanning calorimetry, microcalorimetry, dynamic rheometry, dynamic mechanical analysis, and kinetic simulations. The reversible network 3M-3F630 is chosen to study the conceptual aspects of diffusion-controlled Diels–Alder reactions from 20 to 65 °C. Network formation by gelation is proven and above 30 °C gelled glasses are formed, while cure below 30 °C gives ungelled glasses. The slow progress of Diels–Alder reactions in mobility-restricted conditions is proven by the further increase of the system’s glass transition temperature by 24 °C beyond the cure temperature of 20 °C. These findings are employed in the reversible network 3M-F375PMA, which is UV-polymerized, starting from a Diels–Alder methacrylate pre-polymer. Self-healing of microcracks in diffusion-controlled conditions is demonstrated at 20 °C. De-gelation measurements show the structural integrity of both networks up to at least 150 °C. Moreover, mechanical robustness in 3M-F375PMA is maintained by the poly(methacrylate) chains to at least 120 °C. The self-healing capacity is simulated in an ambient temperature window between −40 and 85 °C, supporting its applicability as self-healing encapsulant in photovoltaics.

Thermal dissociation of anthracene photodimers in the condensed state: kinetic evaluation and complex phase behaviour

Thermally and photochemically reversible functional groups, such as photodimers of anthracene derivatives, offer interesting stimuli-responsive behaviour. To evaluate their potential for application in reversible polymer networks, accurate kinetic parameters and knowledge of their thermophysical behaviour are required. Accurate kinetic studies of the thermal dissociation of the photodimers in the condensed state, thus without the influence of solvents on their reactivity, is still lacking. A methodology was set up to accurately evaluate the chemical reaction kinetics and complex phase behaviour during the thermal dissociation of photodimers into their corresponding monomers. Temperature-controlled time-resolved FTIR spectroscopy was used to determine the reaction progress, while non-isothermal DSC measurements were used to study the thermophysical changes, resulting from the thermal dissociation reaction. The thermal dissociation behaviour in the condensed state is more challenging than in the solution state due to the crystallinity of the dimers, stabilizing the dimers and thus slowing down the initial dissociation rates. Distinctly different sets of kinetic parameters were found for the dissociation from the molten and the crystalline state. For experiments performed below the melting temperature of the photodimer, the reaction rate changes abruptly as the dimer is partly dissociated and partly dissolved into the formed monomer. This methodology provides an accurate assessment of the reaction kinetics with detailed knowledge about the complex phase behaviour of the mixture of the anthracene photodimer and monomer during thermal dissociation.

Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds

In new-generation soft robots, the actuation performance can be increased by using multiple materials in the actuator designs. However, the lifetime of these actuators is often limited due to failure that occurs at the weak multi-material interfaces that rely almost entirely on physical interactions and where stress concentration appears during actuation. This paper proposes to develop soft pneumatic actuators out of multiple Diels–Alder polymers that can generate strong covalent bonds at the multi-material interface by means of a heat–cool cycle. Through tensile testing it is proven that high interfacial strength can be obtained between two merged Diels–Alder polymers. This merging principle is exploited in the manufacturing of multi-material bending soft pneumatic actuators in which interfaces are no longer the weakest links. The applicability of the actuators is illustrated by their operation in a soft hand and a soft gripper demonstrator. In addition, the use of Diels–Alder polymers incorporates healability in bending actuators. It is experimentally illustrated that full recovery of severe damage can be obtained by subjecting the multi-material actuators to a healing cycle.

Fabrication of a Bending-Insensitive In-Plane Strain Sensor from a Reversible Cross-Linker-Functionalized Silicone Polymer

A reversibly cross-linkable and transparent polymer featuring stretchability and thermal healability is prepared by introducing Diels-Alder (DA)-reactive moieties into polydimethylsiloxane (PDMS), namely, a healable PDMS (h-PDMS). Inspired by the fact that retro-DA reactions occur even at low temperatures (albeit at a low rate), we maximize the effectiveness of small reactant products, demonstrating that self-healing and self-integration realized by 1-3 min exposure of cured h-PDMS to methyl ethyl ketone (MEK) vapor is more efficient than that achieved by direct sample heating at high temperatures. This technology is first used to uniformly transfer Ag nanowires (Ag NWs) formed on a temporary substrate to the h-PDMS surface, and further MEK vapor treatment allows the transferred NWs to be impregnated below the h-PDMS surface to afford an in-plane strain sensor. Most importantly, the developed method is used to perfectly integrate two identical Ag NW/h-PDMS films and thus place NWs on a neutral plane. Consequently, because of the unique structure in which a percolated network of AgNWs is formed on the interface where the two identical h-PDMS films are chemically integrated, the fabricated sensor is transparent, self-healable, stretchable, and insensitive to bending but sensitively responds to in-plane strain induced by lateral deformation.

The influence of stereochemistry on the reactivity of the Diels–Alder cycloaddition and the implications for reversible network polymerization

The differences in reactivity and thermal stability of the stereoisomers define the thermal properties and responsiveness of the reversible polymer network.

Coupling the Microscopic Healing Behaviour of Coatings to the Thermoreversible Diels-Alder Network Formation

While thermally reversible polymer network coatings based on the Diels-Alder reaction are widely studied, the mechanisms responsible for the heating-mediated healing of damage is still not well understood. The combination of microscopic evaluation techniques and fundamental insights for the thermoreversible network formation in the bulk and coating shed light on the mechanisms behind the damage healing events. The thermomechanical properties of thermoset and elastomer coatings, crosslinked by the furan-maleimide Diels-Alder cycloaddition reaction, were studied in bulk and compared to the thermal behaviour applied as coatings onto aluminium substrates. The damage sealing of thermoset (Tg = 79 °C) and elastomer (Tg = −49 °C) coatings were studied using nano-lithography and atomic force microscopy (AFM). The sealing event is studied and modelled at multiple temperatures and correlated to the changes in the network structure and corresponding thermomechanical properties.