Exchangeable Liquid Crystalline Elastomers and Their Applications

"Cloth-to-Clothes-Like" Fabrication of Soft Actuators

Inspired by adaptive natural organisms and living matter, soft actuators appeal to a variety of innovative applications such as soft grippers, artificial muscles, wearable electronics, and biomedical devices. However, their fabrication is typically limited in laboratories or a few enterprises since specific instruments, strong stimuli, or specialized operation skills are inevitably involved. Here a straightforward "cloth-to-clothes-like" method to prepare soft actuators with a low threshold by combining the hysteretic behavior of liquid crystal elastomers (LCEs) with the exchange reaction of dynamic covalent bonds, is proposed. Due to the hysteretic behavior, the LCEs (resemble "cloth") effectively retain predefined shapes after stretching and releasing for extended periods. Subsequently, the samples naturally become soft actuators (resemble "clothes") via the exchange reaction at ambient temperatures. As a post-synthesis method, this strategy effectively separates the production of LCEs and soft actuators. LCEs can be mass-produced in bulk by factories or producers and stored as prepared, much like rolls of cloth. When required, these LCEs can be customized into soft actuators as needed. This strategy provides a robust, flexible, and scalable solution to engineer soft actuators, holding great promise for mass production and universal applications.

Phase patterning of liquid crystal elastomers by laser-induced dynamic crosslinking

Liquid crystal elastomers hold promise in various fields due to their reversible transition of mechanical and optical properties across distinct phases. However, the lack of local phase patterning techniques and irreversible phase programming has hindered their broad implementation. Here we introduce laser-induced dynamic crosslinking, which leverages the precision and control offered by laser technology to achieve high-resolution multilevel patterning and transmittance modulation. Incorporation of allyl sulfide groups enables adaptive liquid crystal elastomers that can be reconfigured into desired phases or complex patterns. Laser-induced dynamic crosslinking is compatible with existing processing methods and allows the generation of thermo- and strain-responsive patterns that include isotropic, polydomain and monodomain phases within a single liquid crystal elastomer film. We show temporary information encryption at body temperature, expanding the functionality of liquid crystal elastomer devices in wearable applications.

Fiber Actuators Based on Reversible Thermal Responsive Liquid Crystal Elastomer

Soft actuators inspired by the movement of organisms have attracted extensive attention in the fields of soft robotics, electronic skin, artificial intelligence, and healthcare due to their excellent adaptability and operational safety. Liquid crystal elastomer fiber actuators (LCEFAs) are considered as one of the most promising soft actuators since they can provide reversible linear motion and are easily integrated or woven into complex structures to perform pre-programmed movements such as stretching, rotating, bending, and expanding. The research on LCEFAs mainly focuses on controllable preparation, structural design, and functional applications. This review, for the first time, provides a comprehensive and systematic review of recent advances in this important field by focusing on reversible thermal response LCEFAs. First, the thermal driving mechanism, and direct and indirect heating strategies of LCEFAs are systematically summarized and analyzed. Then, the fabrication methods and functional applications of LCEFAs are summarized and discussed. Finally, the challenges and technical difficulties that may hinder the performance improvement and large-scale production of LCEFAs are proposed, and the development opportunities of LCEFAs are prospected.

4D Printable liquid crystal elastomers with restricted nanointerfacial slippage for long-term-cyclic-stability photothermal actuation

Liquid crystal elastomers (LCEs) blended with photothermal nanofillers can reversibly and rapidly deform their shapes under external optical stimuli. However, nanointerfacial slipping inevitably occurs between the LCE molecules and the nanofillers due to their weak physical interactions, eventually resulting in cyclic instability. This work presents a versatile strategy to fabricate nanointerfacial-slipping-restricted photoactuation elastomers by chemically bonding the nanofillers into a thermally actuatable liquid crystal network. We experimentally and theoretically investigated three types of metal-based nanofillers, including zero-dimensional (0D) nanoparticles, one-dimensional (1D) nanowires, and two-dimensional (2D) nanosheets. The toughly crosslinked nanointerface allows for remarkably promoted interfacial thermal conductivity and stress transfer. Therefore, the resultant actuators enable the realization of long-term-cyclic-stability 4D-printed flexible intelligent systems such as the optical gripper, crawling robot, light-powered self-sustained windmill, butterflies with fluttering wings, and intelligent solar energy collection system.

Cluster-Triggered Self-Luminescence, Rapid Self-Healing, and Adaptive Reprogramming Liquid Crystal Elastomers Enabled by Dynamic Imine Bond

The integration of advanced functions and diverse practical applications calls for multifunctional liquid crystal elastomers (LCEs); however, the structure-intrinsic luminescence and excellent mechanical properties of LCEs have not yet been explored. In this study, clusteroluminescence (CL)-based LCEs (CL-LCEs) are successfully fabricated without depending on large conjugated structures, thereby avoiding redundant organic synthesis and aggregation-caused quenching. The experimental and theoretical results reveal that secondary amine (-NH-) and imine (-C = N-) groups play vital roles in determining the presence of fluorescence in CL-LCEs. Based on the above observation, the strategy universalization and a molecular library for constructing CL-LCEs are further demonstrated. Meanwhile, the dynamic bond of imine bonds endows the CL-LCE system with rapid self-healing under mild conditions (70 °C in 10 min), excellent stretchability, and adaptive programmable characteristics. Furthermore, the self-luminescent performance enables visual detection of the self-healing process. Finally, CL-based information storage and anticounterfeiting are successfully realized and their applications in fiber actuators and fluorescent textiles are demonstrated. The distinctive luminescence and dynamic chemistry presented in this work has significant implications in elucidating the mechanism of CL and providing new strategies for the rational design of novel multifunctional LCE materials.

Self-sustainable autonomous soft actuators

Self-sustainable autonomous locomotion is a non-equilibrium phenomenon and an advanced intelligence of soft-bodied organisms that exhibit the abilities of perception, feedback, decision-making, and self-sustainment. However, artificial self-sustaining architectures are often derived from algorithms and onboard modules of soft robots, resulting in complex fabrication, limited mobility, and low sensitivity. Self-sustainable autonomous soft actuators have emerged as naturally evolving systems that do not require human intervention. With shape-morphing materials integrating in their structural design, soft actuators can direct autonomous responses to complex environmental changes and achieve robust self-sustaining motions under sustained stimulation. This perspective article discusses the recent advances in self-sustainable autonomous soft actuators. Specifically, shape-morphing materials, motion characteristics, built-in negative feedback loops, and constant stimulus response patterns used in autonomous systems are summarized. Artificial self-sustaining autonomous concepts, modes, and deformation-induced functional applications of soft actuators are described. The current challenges and future opportunities for self-sustainable actuation systems are also discussed.

Shape programming of liquid crystal elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials that demonstrate reversible actuation when exposed to external stimuli, such as light or heat. The actuation's complexity depends heavily on the instilled liquid crystal alignment, programmed into the material using various shape-programming processes. As an unavoidable part of LCE synthesis, these also introduce geometrical and output restrictions that dictate the final applicability. Considering LCE's future implementation in real-life applications, it is reasonable to explore these limiting factors. This review offers a brief overview of current shape-programming methods in relation to the challenges of employing LCEs as soft, shape-memory components in future devices.

Controlling the Optical Properties of Transparent Auxetic Liquid Crystal Elastomers

Determining the tunability of the optical coefficients, order parameter, and transition temperatures in optically transparent auxetic liquid crystal elastomers (LCEs) is vital for applications, including impact-resistant glass laminates. Here, we report measurements of the refractive indices, order parameters, and transition temperatures in a family of acrylate-based LCEs in which the mesogenic content varies from ∼50 to ∼85%. Modifications in the precursor mixture allow the order parameter, ⟨P2⟩, of the LCE to be adjusted from 0.46 to 0.73. The extraordinary refractive index changes most significantly with composition, from ∼1.66 to ∼1.69, in moving from a low to high mesogenic content. We demonstrate that all LCE refractive indices decrease with increasing temperature, with temperature coefficients of ∼10-4 K-1, comparable to optical plastics. In these LCEs, the average refractive index and the refractive index anisotropy are tunable via both chemical composition and order parameter control; we report design rules for both.

Recent Advances in 4D Printing of Advanced Materials and Structures for Functional Applications

4D printing has attracted tremendous worldwide attention during the past decade. This technology enables the shape, property, or functionality of printed structures to change with time in response to diverse external stimuli, making the original static structures alive. The revolutionary 4D-printing technology offers remarkable benefits in controlling geometric and functional reconfiguration, thereby showcasing immense potential across diverse fields, including biomedical engineering, electronics, robotics, and photonics. Here, a comprehensive review of the latest achievements in 4D printing using various types of materials and different additive manufacturing techniques is presented. The state-of-the-art strategies implemented in harnessing various 4D-printed structures are highlighted, which involve materials design, stimuli, functionalities, and applications. The machine learning approach explored for 4D printing is also discussed. Finally, the perspectives on the current challenges and future trends toward further development in 4D printing are summarized.

Embedded Physical Intelligence in Liquid Crystalline Polymer Actuators and Robots

Responsive materials possess the inherent capacity to autonomously sense and respond to various external stimuli, demonstrating physical intelligence. Among the diverse array of responsive materials, liquid crystalline polymers (LCPs) stand out for their remarkable reversible stimuli-responsive shape-morphing properties and their potential for creating soft robots. While numerous reviews have extensively detailed the progress in developing LCP-based actuators and robots, there exists a need for comprehensive summaries that elucidate the underlying principles governing actuation and how physical intelligence is embedded within these systems. This review provides a comprehensive overview of recent advancements in developing actuators and robots endowed with physical intelligence using LCPs. This review is structured around the stimulus conditions and categorizes the studies involving responsive LCPs based on the fundamental control and stimulation logic and approach. Specifically, three main categories are examined: systems that respond to changing stimuli, those operating under constant stimuli, and those equip with learning and logic control capabilities. Furthermore, the persisting challenges that need to be addressed are outlined and discuss the future avenues of research in this dynamic field.

Multifunctional UV-NIR Dual Light-Responsive Soft Actuators from a Main-Chain Azobenzene Semi-Crystalline Poly(ester-amide) Doped with Polydopamine Nanoparticles

The development of soft photoactuators with multifunctionality and improved performance is highly important for their broad applications. Herein, we report on a facile and efficient strategy for fabricating such photoactuators with UV-NIR dual light-responsivity, room-temperature 3D shape reprogrammability and reprocessability, and photothermal healability by doping polydopamine (PDA) nanoparticles into a main-chain azobenzene semi-crystalline poly(ester-amide) (PEA). The PEA/PDA nanoparticle composite was readily processed into free-standing films with enhanced mechanical and photomechanical properties compared with the blank PEA films. Its physically crosslinked uniaxially oriented films showed rapid and highly reversible photochemically induced bending/unbending under the UV/visible light irradiation at room temperature in both the air atmosphere and water. When exposed to the NIR light, they (and their bilayer films formed with a polyimide film) exhibited photothermally induced bending even at a temperature much lower than their crystalline-to-isotropic phase transition temperature based on a unique mechanism (involving photothermally induced polymer chain relaxation due to the disruption of their hydrogen bonds). The room-temperature 3D shape reprogrammability and reprocessability and photothermal healability of the composite polymer films were also demonstrated. Such multifunctional dual light-responsive photoactuators with well-balanced mechanical robustness, actuation stability, 3D shape reprogrammability/reprocessability and photothermal healability hold much promise in various photoactuating applications.

Liquid Crystal Elastomer Artificial Tendrils with Asymmetric Core-Sheath Structure Showing Evolutionary Biomimetic Locomotion

The sophisticated and complex haptonastic movements in response to environmental-stimuli of living organisms have always fascinated scientists. However, how to fundamentally mimic the sophisticated hierarchical architectures of living organisms to provide the artificial counterparts with similar or even beyond-natural functions based on the underlying mechanism remains a major scientific challenge. Here,  liquid crystal elastomer (LCE) artificial tendrils showing evolutionary biomimetic locomotion are developed following the structure-function principle that is used in nature to grow climbing plants. These elaborately designed tendril-like LCE actuators possess an asymmetric core-sheath architecture which shows a higher-to-lower transition in the degree of LC orientation from the sheath-to-core layer across the semi-ellipse cross-section. Upon heating and cooling, the LCE artificial tendril can undergo reversible tendril-like shape-morphing behaviors, such as helical coiling/winding, and perversion. The fundamental mechanism of the helical shape-morphing of the artificial tendril is revealed by using theoretical models and finite element simulations. Besides, the incorporation of metal-ligand coordination into the LCE network provides the artificial tendril with reconfigurable shape-morphing performances such as helical transitions and rotational deformations. Finally, the abilities of helical and rotational deformations are integrated into a new reprogrammed flagellum-like architecture to perform evolutionary locomotion mimicking the haptonastic movements of the natural flagellum.

Light-Responsive Actuator of Azobenzene-Containing Main-Chain Liquid Crystal Elastomers with Allyl Sulfide Dynamic Exchangeable Linkages

Herein, a light-responsive and light-induced bond-exchange-reaction (BER)-capable actuator of the monodomain liquid crystal elastomer (xMLCEazo), developed using main-chain mesogenic oligomers containing azobenzene and allyl sulfide linkages, is investigated. Large quantities of the azobenzene and allyl dithiol linkages are incorporated into the main-chain mesogenic oligomer prepared via thiol-acrylate Michael addition polymerization (TAMAP). The xMLCEazo film is generated via visible-light-induced BER of the drawn polydomain xLCEazo (xPLCEazo) film prepared via TAMAP of tetrathiol cross-linkers and diacrylate-terminated mesogenic oligomers. The xMLCEazo film exhibits large length actuation (38%) through the photothermal effect, along with excellent self-healing and reprogramming properties, under ultraviolet (UV) light irradiation. UV light induced BER of the xMLCEazo film is used to develop complex-shaped actuators with a bilayer film, containing the xMLCEazo and xPLCEazo films, which are bonded by the UV light induced BER without glue. The individual arm of the complex eight-arm flower is remotely actuated under UV light irradiation, and a circular band is rolled under blue laser light irradiation, demonstrating the local remote-controlled actuation and fuel-free motion of the motile soft robot using light irradiation, respectively. Thus, the xMLCEazo film can be expanded to other interesting applications requiring reprogrammable, self-healing, reprocessable, patternable, and remote-controlled light-triggered elastic, rubber-like actuators.

Programming Deformations of 3D Microstructures: Opportunities Enabled by Magnetic Alignment of Liquid Crystalline Elastomers

Synthetic structures that undergo controlled movement are crucial building blocks for developing new technologies applicable to robotics, healthcare, and sustainable self-regulated materials. Yet, programming motion is nontrivial, and particularly at the microscale it remains a fundamental challenge. At the macroscale, movement can be controlled by conventional electric, pneumatic, or combustion-based machinery. At the nanoscale, chemistry has taken strides in enabling molecularly fueled movement. Yet in between, at the microscale, top-down fabrication becomes cumbersome and expensive, while bottom-up chemical self-assembly and amplified molecular motion does not reach the necessary sophistication. Hence, new approaches that converge top-down and bottom-up methods and enable motional complexity at the microscale are urgently needed. Synthetic anisotropic materials (e.g., liquid crystalline elastomers, LCEs) with encoded molecular anisotropy that are shaped into arbitrary geometries by top-down fabrication promise new opportunities to implement controlled actuation at the microscale. In such materials, motional complexity is directly linked to the built-in molecular anisotropy that can be "activated" by external stimuli. So far, encoding the desired patterns of molecular directionality has relied mostly on either mechanical or surface alignment techniques, which do not allow the decoupling of molecular and geometric features, severely restricting achievable material shapes and thus limiting attainable actuation patterns, unless complex multimaterial constructs are fabricated. Electromagnetic fields have recently emerged as possible alternatives to provide 3D control over local anisotropy, independent of the geometry of a given 3D object. The combination of magnetic alignment and soft lithography, in particular, provides a powerful platform for the rapid, practical, and facile production of microscale soft actuators with field-defined local anisotropy. Recent work has established the feasibility of this approach with low magnetic field strengths (in the lower mT range) and comparably simple setups used for the fabrication of the microactuators, in which magnetic fields can be engineered through arrangement of permanent magnets. This workflow gives access to microstructures with unusual spatial patterning of molecular alignment and has enabled a multitude of nontrivial deformation types that would not be possible to program by any other means at the micron scale. A range of "activating" stimuli can be used to put these structures in motion, and the type of the trigger plays a key role too: directional and dynamic stimuli (such as light) make it possible to activate the patterned anisotropic material locally and transiently, which enables one to achieve and further program motional complexity and communication in microactuators. In this Account, we will discuss recent advances in magnetic alignment of molecular anisotropy and its use in soft lithography and related fabrication approaches to create LCE microactuators. We will examine how design choices-from the molecular to the fabrication and the operational levels-control and define the achievable LCE deformations. We then address the role of stimuli in realizing the motional complexity and how one can engineer feedback within and communication between microactuator arrays fabricated by soft lithography. Overall, we outline emerging strategies that make possible a completely new approach to designing for desired sets of motions of active, microscale objects.

Electrostatically Powered Multimode Liquid Crystalline Elastomer Actuators

Soft actuators based on liquid crystalline elastomers (LCEs) are captivating significant interest because of their unique properties combining the programmable liquid crystalline molecular order and elasticity of polymeric materials. For practical applications, the ability to perform multimodal shape changes in a single LCE actuator at a subsecond level is a bottleneck. Here, we fabricate a monodomain LCE powered by electrostatic force, which enables fast multidirectional bending, oscillation, rotation, and complex actuation with a high degree of freedom. By tuning the dielectric constant and resistivity in LCE gels, a complete cycle of oscillation and rotation only takes 0.1 s. In addition, monodomain actuators exhibit anisotropic actuation behaviors that promise a more complex deployment in a potential electromechanical system. The presented study will pave the way for electrostatically controllable isothermal manipulation for a fast and multimode soft actuator.

Network Topology Optimization for Alignment Programming of a Dynamic Liquid Crystalline Organo-Gel

Liquid crystalline elastomers (LCEs) exhibit muscle-like actuation upon an external stimulus. To control this, various alignment programming strategies have been developed over the past decades. Among them, force-directed solvent evaporation, namely, that the alignment depends on the applied external force during solvent evaporation, is appreciated for its universality in material design and versatility in attainable actuations. Here, we investigate the influence of network topology on the alignment programming of a liquid crystalline (LC) organo-gel via varying feeding ratios of the monomers. As a result, distinct self-supporting actuations can be repeatedly introduced into a topology-optimized LC organo-gel. Beyond this, the bond exchange reaction of the embedded ester groups can be activated upon heating, which enables alignment manipulation based on dynamic network reconfiguration after drying. The availability of inviting two distinct programming strategies into one LCE network allows us to regulate the LCE alignment at both the gel and dried states, offering ample room to diversify actuation manners. Our design principle shall be adopted by other dynamic LCE systems owing to its maneuverability.

The Synergistic Effects between Liquid Crystal and Crystalline Phase on Photo-Responsive Elastomers toward Quick Photo-Responsive Performance

Adopting only a small amount of azobenzene molecular to design liquid crystal photo-responsive materials capable of quick response and flexible adjustability is in high demand but is challenging. Herein, azobenzenemolecules into polyurethane elastomer containing crystalline structure for preparing azobenzene liquid-crystal elastomers (ALCEs) are demonstrated and this phenomenon of the synergistic effects between liquid crystal and crystalline phase is discovered. The key point of the work is that the synthetic ALCEs can utilize the reversible isomerism capability of azobenzene molecules under light irradiation, which can pry the motion of the macromolecular crystalline region in system to realize the large macroscopic deformation of the photo-responsive behavior. Obviously, the ALCEs sample containing azobenzene molecule and polyethylene glycol crystallization can quickly bend, illuminated by ultraviolet light and rapidly straighten under green light. Under the same ultraviolet irradiation, the bending speed, final bending angle, recovery rate and recovery ratio of ALCEs are larger than that of ALCEs without any crystalline structure. This ALCEs based on the synergistic effects between liquid crystal and crystalline phase can break through the current dilemma that the application of traditional azobenzene photo-responsive materials is limited by their concentration, greatly expanding the design thought and their scope of application.

Programmable and Self-Healable Liquid Crystal Elastomer Actuators Based on Halogen Bonding

Shape-changing polymeric materials have gained significant attention in the field of bioinspired soft robotics. However, challenges remain in versatilizing the shape-morphing process to suit different tasks and environments, and in designing systems that combine reversible actuation and self-healing ability. Here, we report halogen-bonded liquid crystal elastomers (LCEs) that can be arbitrarily shape-programmed and that self-heal under mild thermal or photothermal stimulation. We incorporate halogen-bond-donating diiodotetrafluorobenzene molecules as dynamic supramolecular crosslinks into the LCEs and show that these relatively weak crosslinks are pertinent for their mechanical programming and self-healing. Utilizing the halogen-bonded LCEs, we demonstrate proof-of-concept soft robotic motions such as crawling and rolling with programmed velocities. Our results showcase halogen bonding as a promising, yet unexplored tool for the preparation of smart supramolecular constructs for the development of advanced soft actuators.

Synthesis of Self-healing and Light-, Thermal-, and Humidity-induced Deformative Polyurethane Actuator

Intelligent actuating materials have drawn enormous attention because of their potential applications in soft robots, smart sensors, bionics, etc. Aiming to integrate light, thermal, and humidity stimuli deformations and self-healing function into a single polymer, a smart actuating polyurethane material CPPU-50 is designed and successfully synthesized through co-polymerization of azobenzene-containing Azo-C12 , polyethylene glycol 200 (PEG200), and 4,4'-diphenylmethane diisocyanate (MDI) at a ratio of 1:1:2. The obtained polyurethane CPPU-50 exhibits good photoinduced bending, thermal responsive shape memory effect, humidity triggered deflections and self-healing properties. Furthermore, an actuator combining light and thermal stimuli is created and the self-healing CPPU-50 film can withstand the object of 1800 times without tearing. This work can pave a way for further development of long-lived multi-stimuli-responsive actuating devices and intelligent materials.

One-Step Manufacturing of Supramolecular Liquid-Crystal Elastomers by Stress-Induced Alignment and Hydrogen Bond Exchange

Liquid-crystal elastomers (LCEs) capable of performing large and reversible deformation in response to an external stimulus are an important class of soft actuators. However, their manufacturing process typically involves a multistep approach that requires harsh conditions. For the very first time, LCEs with customized geometries that can be manufactured by a rapid one-step approach at room temperature are developed. The LCEs are hydrogen bond (H-bond) crosslinked main chain polymers comprising flexible short side chains. Applying a stretching/shear force to the LCE can simultaneously induce mesogen alignment and H-bond exchange, allowing for the formation of well-aligned LCE networks stabilized by H-bonds. Based on this working principle, soft actuators in fibers and 2D/3D objects can be manufactured by mechanical stretching or melt extrusion within a short time (e.g. <1 min). These actuators can perform reversible macroscopic motions with large, controlled deformations up to 38 %. The dynamic nature of H-bonds also provides the actuators with reprocessability and reprogrammability. Thus, this work opens the way for the one-step and custom manufacturing of soft actuators.

Liquid Crystal Materials for Biomedical Applications

Liquid crystal is a state of matter being intermediate between solid and liquid. Liquid crystal materials exhibit both orientational order and fluidity. While liquid crystals have long been highly recognized in the display industry, in recent decades, liquid crystals provide new opportunities into the cross-field of material science and biomedicine due to their biocompatibility, multifunctionality, and responsiveness. In this review, the latest achievements of liquid crystal materials applied in biomedical fields are summarized. The start is made by introducing the basic concepts of liquid crystals, and then shifting to the components of liquid crystals as well as functional materials derived therefrom. After that, the ongoing and foreseeable applications of liquid crystal materials in the biomedical field with emphasis put on several cutting-edge aspects, including drug delivery, bioimaging, tissue engineering, implantable devices, biosensing, and wearable devices are discussed. It is hoped that this review will stimulate ingenious ideas for the future generation of liquid crystal-based drug development, artificial implants, disease diagnosis, health status monitoring, and beyond.

Additive Manufacturing of Liquid Crystal Elastomer Actuators Based on Knitting Technology

Liquid crystal elastomer (LCE) exhibits large and reversible deformability originating from the alignment of liquid crystal mesogens. Additive manufacturing provides high controllability in the alignment and shaping process of LCE actuators. However, it still remains a challenge to customize LCE actuators with both diverse 3D deformability and recyclability. In this study, a new strategy is developed to exploit knitting technique to additively manufacture LCE actuators. The obtained LCE actuators are fabric-structured with designed geometry and deformability. By accurately adjusting the parameters of the knitting patterns as modules, diverse geometry is pixel-wise designed, and complex 3D deformations including bending, twisting, and folding are quantitatively controlled. In addition, the fabric-structured LCE actuators can be threaded, stitched, and reknitted to achieve advanced geometry, integrated multi-functions and efficient recyclability. This approach allows the fabrication of versatile LCE actuators with potential applications in smart textiles and soft robots.

Modeling Viscoelasticity and Dynamic Nematic Order of Exchangeable Liquid Crystal Elastomers

Exchangeable liquid crystal elastomers (XLCEs), an emerging class of recyclable polymer materials, consist of liquid crystalline polymers which are dynamically crosslinked. We develop a macroscopic continuum model by incorporating the microscopic dynamic features of the cross-links, which can be utilized to understand the viscoelasticity of the materials together with the dynamic nematic order. As applications of the model, we study the rheological responses of XLCEs in three cases: stress relaxation, strain ramp, and creep compliance, where the materials show interesting rheology as an interplay between the dynamic nematic order of the mesogenic units, the elasticity from the network structure, and the dissipation due to chain exchange reactions. Not only being useful in understanding the physical mechanism underlying the fascinating characteristics of XLCEs, this work can also guide their future fabrications with desired rheological properties.

Thermal-Responsive Liquid Crystal Elastomer Foam-based Compressible and Omnidirectional Gripper

Liquid crystal elastomers (LCEs) are considered to be a promising material for the fabrication of soft grippers because of their large and reversible deformations, an LCE gripper with suitable compressibility and omnidirectionality has not yet been developed. To overcome these obstacles, this study utilizes salt template method to fabricate a rod-like LCE foam as gripper. The thickness of the compressible foam can be reduced by up to 77%, temporarily maintaining the deformation and enabling the gripper to pass through slits. The foam was aligned along the long axis and the length of the foam exhibits reversible thermal responsiveness and contract up to 57% along its alignment. Additionally, when the foam approaches a heat source, the generated temperature gradient results in a contraction gradient owing to the low thermal conductivity of the LCE foam. This in turn causes the foam to reversibly bend with a bending angle up to 93° and follow the movement of a heat source omnidirectionally. The developed gripper successfully grasps, moves, and releases hot objects in a cold and safe place, demonstrating its potential for emergency disposal. Thus, LCE foams can be considered suitable materials for novel gripper design and construction.

Enabling liquid crystal elastomers with tunable actuation temperature

Liquid crystalline elastomers are regarded as a kind of desirable soft actuator material for soft robotics and other high-tech areas. The isotropization temperature (T_i) plays an important role as it determines the actuation temperature and other properties, which in turn has a great effect on their applications. In the past, the common physical methods (e.g. annealing) to tune T_i is not applicable to tune the actuation temperature. The new T_i obtained by annealing immediately goes back to the old one once it is heated to a temperature above T_i, while actuation needs a temperature higher than T_i. For a fully cross-linked LCE material, once it is synthesized, the actuation temperature is fixed. Accordingly, the actuation temperature can not be tuned unless the chemical structure is changed, which usually needs to start from the very beginning of the molecular design and material synthesis. Here, we found that different T_i achieved by annealing can be preserved by reversible reactions of dynamic covalent bonds in covalently adaptable LC networks including LC vitrimers. Thus, a variety of soft actuators with different actuation temperatures can be obtained from the same fully cross-linked LCE material. As the tuning of T_i is also reversible, the same actuator can be adjusted for applications with different actuation temperature requirements. Such tuning will also expand the application of LCEs.

Fully Room Temperature Reprogrammable, Recyclable, and Photomobile Soft Actuators from Physically Cross-Linked Main-Chain Azobenzene Liquid Crystalline Polymers

Fully room temperature three-dimensional (3D) shape-reprogrammable, recyclable, and photomobile azobenzene (azo) polymer actuators hold much promise in many photoactuating applications, but their development is challenging. Herein, we report on the efficient synthesis of a series of main-chain azo liquid crystalline polymers (LCPs) with such performances via Michael addition polymerization. They have both ester groups and two kinds of hydrogen bond-forming groups (i.e., amide and secondary amino groups) and different flexible spacer length in the backbones. Such poly(ester-amide-secondary amine)s (PEAsAs) show low glass transition temperatures (T_g ≤ 18.4 °C), highly ordered smectic liquid crystalline phases, and reversible photoresponsivity. Their uniaxially oriented fibers fabricated via the melt spinning method exhibit good mechanical strength and photoinduced reversible bending/unbending and large stress at room temperature, which are largely influenced by the flexible spacer length of the polymers. Importantly, all these fibers can be easily reprogrammed under strain at 25 °C into stable fiber springs capable of showing a totally different photomobile mode (i.e., unwinding/winding), mainly owing to the presence of low T_g and both dynamic hydrogen bonding and stable crystalline domains (induced by the uniaxial drawing during the fiber formation). They can also be recycled from a solution at 25 °C. This work not only presents the first azo LCPs with 3D shape reprogrammability, recyclability, and photomobility at room temperature, but also provides some important knowledge of their structure-property relationship, which is useful for designing more advanced photodeformable azo polymers.

Fabricating liquid crystal vitrimer actuators far below the normal processing temperature

Liquid crystal vitrimers can be reprocessed, reshaped, welded, and healed due to exchange-reaction-enabled topology changes despite having fully covalently cross-linked network structures. Fabricating liquid crystal (LC) vitrimer actuators is invariably carried out above a characteristic temperature known as the topology freezing transition temperature (T_v). The reason that all exchange-reaction-based operations must be performed above T_v is because the exchange reaction is insignificant below T_v. Here we find that LC vitrimers can be reshaped at temperatures below the measured T_v, whereas non-LC vitrimers cannot. The work here not only makes it possible to create reprogrammable and stable LC vitrimer actuators at low temperatures but also reminds us that both our measurement and understanding of the T_v need further attention to facilitate the use of vitrimers in different areas.

Ultrasonic-Excited Ultrafast Seamless Integration of Heterostructured Liquid Crystalline Elastomers for Multi-responsive Soft Actuators

Multicomponent/heterostructured liquid crystalline elastomers (LCEs) have recently garnered extensive attention for the design of soft robots with high dexterity and flexibility. However, the reported integration strategies of LCEs seriously suffer from high welding temperature, long processing time, and poor joint quality. Herein, the high-efficiency seamless ultrasonic welding (UW) of reprogrammable silver nanowire-LCE composites (AgNW-LCEs) have been realized without any auxiliary reagents based on the dynamic silver-disulfide coordination interactions. The elaborate combination of silver-disulfide coordination interactions and UW technology establishes an effective double-network welding mechanism of AgNWs and dynamic LC networks due to the high-frequency vibration at the welding interface. During the UW process, monolithic AgNW-LCEs can be integrated into heterostructured actuators at room temperature for 0.68 s. Furthermore, the welded AgNW-LCEs demonstrate an exceptional strain healing efficiency of ∼100%, a stress healing efficiency of ∼85%, and a maintained orientation of the LC alignment. Taking advantage of the high-efficiency UW technology, the heterostructured AgNW-LCE actuators with different LC alignments or LC monomers have been successfully implemented for a multi-degree-of-freedom soft robotic arm and a time-modulated flower-mimic actuator. This work provides an efficient approach toward the development of multi-responsive entirely soft actuators based on smart polymers.

Springtail-inspired Light-driven Soft Jumping Robots Based on Liquid Crystal Elastomers with Monolithic Three-leaf Panel Fold Structure

Jump is an important form of motion that enables animals to escape from predators, increase their range of activities, and better adapt to the environment. Inspired by springtails, we describe a light-driven soft jumping robot based on a double-folded liquid crystal elastomer (LCE) ribbon actuator with a monolithic three-leaf panel fold structure. This robot can achieve remarkable jumping height, jumping distance, and maximum take-off velocity, of up to 87 body length (BL), 65 BL, and 930 BL s^-1 , respectively, under near-infrared light irradiation. Further, it is possible to control the height, distance, and direction of jump by changing the size and crease angle of the double-folded LCE ribbon actuators. These robots can efficiently jump over obstacles and can jump continuously, even in complex environments. Our simple design strategy improves the performance of jumping actuators and we expect it to have a wide-ranging impact on the strength, continuity, and adaptability of future soft robots.

Stress-Induced Shape-Shifting Materials Possessing Autonomous Self-Healing and Scratch-Resistant Ability

Covalent adaptable networks (CANs) capable of both shape-shifting and self-healing ability offer a viable alternative to 4D printing technology to gain access to various complex shapes in a simplified manner. However, most of the reported CANs exhibit shape-shifting ability in the presence of temperature, light or chemical stimuli, which restricts their further utilization as realization of such a controlled environment is not feasible under complex scenarios. Herewith, we report a set of CANs based on a room-temperature exchangeable thia-Michael adduct, which undergoes rearrangement in network topology on application of external stress. These CANs with tensile strength (≤6 MPa) and modulus (≤71.4 MPa) adopt to any programmed shape under application of nominal stress. The CANs also exhibit stress-induced recyclability, self-welding and self-healing ability under ambient conditions. The transparency and ambient condition self-healing ability render these CANs to be utilized as scratch-resistant coatings on display items.

Programming Orientation in Liquid Crystalline Elastomers Prepared with Intra-Mesogenic Supramolecular Bonds

The large, directional stimuli-response of aligned liquid crystalline elastomers (LCEs) could enable functional utility in robotics, medicine, consumer goods, and photonics. The alignment of LCEs has historically been realized via mechanical alignment of a two-stage reaction. Recent reports widely utilize chain extension reactions of liquid crystal monomers (LCM) to form LCEs that are subject to either surface-enforced or mechanical alignment. Here, we prepare LCEs that contain intra-mesogenic supramolecular bonds synthesized via direct free-radical chain transfer photopolymerization processible by a distinctive mechanical alignment mechanism. The LCEs were prepared by the polymerization of a benzoic acid monomer (11OBA), which dimerized to form a liquid crystal monomer, with a diacrylate LCM (C6M). The incorporation of the intra-mesogenic hydrogen bonds increases the achievable nematic order from mechanical programming. Accordingly, LCEs prepared with larger 11OBA concentration exhibit higher magnitude thermomechanical strain values when compared to a LCE containing only covalent bonds. These LCEs can be reprogrammed with heat to return the aligned film to the polydomain state. The LCE can then be subsequently programmed to orient in a different direction. The facile preparation of (re)programmable LCEs with supramolecular bonds opens new avenues for the implementation of these materials as shape deployable elements.

Design of Surface-Aligned Main-Chain Liquid-Crystal Networks Prepared under Ambient, Light-Free Conditions Using the Diels-Alder Cycloaddition

Surface-aligned liquid-crystal networks (LCNs) offer a solution for developing functional materials capable of performing a range of tasks, including actuation, shape memory, and surfaces patterning. Here we show that Diels-Alder cycloaddition can be used to prepare the backbone of planar aligned LCNs under mild ambient conditions without the addition of additives or UV irradiation. The mechanical properties of the networks have robust viscoelastic modulus and stiffness with a reversible local free volume change upon physical aging. This study shows new opportunities to design surface-aligned LCNs based on additive free step-growth Diels-Alder polymerization and enables the potential to incorporate a wider range of photochromic materials into LCNs.

Merging the Interfaces of Different Shape-Shifting Polymers Using Hybrid Exchange Reactions

Sophisticated shape-shifting structures and integration of advanced functions often call for different-chemistry-based polymers (such as epoxy and polyurethane) in a unified system. However, permanent cross-links pose crucial obstacles to be seamless. Here, merging interfaces via hybrid exchange reactions among different dynamic covalent bonds (including ester, urethane, thiourethane, boronic-ester, and oxime-ester linkages) is proposed, breaking the long-lasting restriction that these widely used bonds only undergo self-exchange reactions. Model compound studies are conducted to verify that hybrid exchange reactions occur. As demonstrations, different liquid crystal elastomers are tenaciously joined into coherent assemblies, with the desired biomimetic structures (e.g., flying fish containing stiff and flexible parts) and rare deformation modes (e.g., flower blooming upon both heating and cooling). Besides connecting polymers, hybrid exchange reactions also facilitate the creation of new materials through cross-fusion of different polymers. In addition to the polymers used in this work, hybrid exchange reactions can be adapted to other polymers based on similar mechanisms and beyond. Besides shape-shifting-related areas (e.g., soft robots, flexible electronics, and biomedical devices), it may also foster innovation in other fields involving general polymers, as well as promote deeper understanding of dynamic covalent chemistry.

Reconfigurable Fluorescent Liquid Crystal Elastomers for Integrated Visual and Haptic Information Storage

The rapid advancements in information technology require new information storage and display materials. However, the development of on-demand information storage systems with multiple modes remains a significant challenge. As a pioneering approach, this study designed an integrated visual and haptic information storage and display using a reconfigurable fluorescent liquid crystal elastomer (FLCE) with dynamic covalent bonds. The FLCEs were fabricated in two steps of amine-acrylate aza-Michael addition and photopolymerization, and they simultaneously exhibited phototunable fluorescence caused by the reversible Z/E photoisomerization of the chromophores and a reprogrammable shape owing to the catalyst-free transesterification. In addition, we established various information storage and display modes featuring the characteristics of reversibly photoswitchable fluorescence, shape memory, and thermally reconfigurable shape with a reconfigurable FLCE system. Moreover, a strategy to display the information by incorporating both visual and haptic feedback is implemented for fulfilling the needs of the visually impaired and related users. Such reconfigurable FLCE systems will aid in the development of on-demand information storage, display, and protection devices.

Surface-Enforced Alignment of Reprogrammable Liquid Crystalline Elastomers

Liquid crystalline elastomers (LCEs) are stimuli-responsive materials capable of undergoing large deformations. The thermomechanical response of LCEs is attributable to the coupling of polymer network properties and disruption of order between liquid crystalline mesogens. Complex deformations have been realized in LCEs by either programming the nematic director via surface-enforced alignment or localized mechanical deformation in materials incorporating dynamic covalent chemistries. Here, the preparation of LCEs via thiol-Michael addition reaction is reported that are amenable to surface-enforced alignment. Afforded by the thiol-Michael addition reaction, dynamic covalent bonds are uniquely incorporated in chemistries subject to surface-enforce alignment. Accordingly, LCEs prepared with complex director profiles are able to be programmed and reprogrammed by (re)activating the dynamic covalent chemistry to realize distinctive shape transformations.

Slidable Cross-Linking Effect on Liquid Crystal Elastomers: Enhancement of Toughness, Shape-Memory, and Self-Healing Properties

The network structures of liquid crystal elastomers (LCEs) are crucial to impart rubbery behavior to LCEs and enable reversible actuation. Most LCEs developed to date are covalently linked, implying that the cross-links are fixed at a particular position. Herein, we report a new class of LCEs integrating polyrotaxanes (PRs) as slidable cross-links (PR-LCEs). Interestingly, the incorporation of a low loading (0.3-2.0 wt %) of the PR cross-linkers to the LCE causes a significant impact on various properties of the resulting PR-LCEs due to the pulley effect. The optimum PR loading is determined to be 0.5 wt %, at which point the toughness and damping behavior are maximized. The robust mechanical properties of the PR-LCE offers a superior actuation performance to that of the pristine LCE along with an excellent quadruple shape-memory effect. Furthermore, the incorporation of PR is useful to enhance the efficiency of shape-memory-assisted self-healing when heating above the nematic-isotropic transition.

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

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

Muscle-Mimetic Highly Tough, Conductive, and Stretchable Poly(ionic liquid) Liquid Crystalline Ionogels with Ultrafast Self-Healing, Super Adhesive, and Remarkable Shape Memory Properties

Here, we report a simple method for preparing muscle-mimetic highly tough, conductive, and stretchable liquid crystalline ionogels which contains only one poly(ionic liquid) (PIL) in an ionic liquid via in situ free radical photohomopolymerization by using nitrogen gas instead of air atmosphere. Due to eliminating the inhibition caused by dissolved oxygen, the polymerization under nitrogen gas has much higher molecular weight, lower critical sol-gel concentration, and stronger mechanical properties. More importantly, benefiting from the unique loofah-like microstructures along with the strong internal ionic interactions, entanglements of long PIL chains and liquid crystalline domains, the ionogels show special optical anisotropic, superstretchability (>8000%), high fracture strength (up to 16.52 MPa), high toughness (up to 39.22 MJ/m³), and have ultrafast self-healing, ultrastrong adhesive, and excellent shape memory properties. Due to its excellent stretchability and good conductive-strain responsiveness, the as-prepared ionogel can be easily applied for high-performance flexible and wearable sensors for motion detecting. Therefore, this paper provides an effective route and developed method to generate highly stretchable conductive liquid crystalline ionogels/elastomers that can be used in widespread flexible and wearable electronics.

Thiol-acrylate side-chain liquid crystal elastomers

The Michael addition 'click' chemistry was used to graft acrylate-terminated mesogenic groups onto the polysiloxane backbone polymer chain with thiol functional groups, with a constant 15% fraction of diacrylate reacting monomers as crosslinkers. Three different types of mesogens were used, and also their 50 : 50 mixtures, and in all cases we have obtained the smectic-A phase of the resulting liquid crystalline elastomer. Using X-ray diffraction, calorimetry and dynamic mechanical analysis, we investigated the relationship between the molecular structure of mesogenic side groups and the structure and properties of the elastomers. The shape-memory of smectic elastomers was verified. The unusual features were the semi-crystalline nature of elastomers with non-polar mesogens and the clear role of side-by-side rod dimerization of polar mesogens leading to a higher smectic layer spacing. We investigated the evolution of the smectic alignment on uniaxial stretching along the layer normal and identified two distinct ways in which the elastomer responds: the coarsened Helfrich-Hurault zig-zag layer texture and the large-scale stripe domains of uniform layer rotation in the systems with lower order parameter and the associated layer constraints.

Locally controllable magnetic soft actuators with reprogrammable contraction-derived motions

Reprogrammable magneto-responsive soft actuators capable of working in enclosed and confined spaces and adapting functions under changing situations are highly demanded for new-generation smart devices. Despite the promising prospect, the realization of versatile morphing modes (more than bending) and local magnetic control remains challenging but is crucial for further on-demand applications. Here, we address the challenges by maximizing the unexplored potential of magnetothermal responsiveness and covalent adaptable networks (CANs) in liquid crystalline elastomers (LCEs). Various magneto-actuated contraction-derived motions that were hard to achieve previously (e.g., bidirectional shrinkage and dynamic 3D patterns) can be attained, reprogrammed, and assembled seamlessly to endow functional diversity and complexity. By integration of LCEs with different magneto-responsive threshold values, local and sequential magnetic control is readily realized. Many magnetic actuation portfolios are performed by rationally imputing "logic switch" sequences. Meanwhile, our systems exhibit additional favorable performances including stepwise magnetic controllability, multiresponsiveness, self-healing, and remolding ability.

Manipulation of Liquid Crystalline Properties by Dynamic Covalent Chemistry─En Route to Adaptive Materials

Dynamic covalent bonds bear great potential for the development of adaptive and self-healing materials. Herein, we introduce a versatile concept not only for the design of low-molecular-weight liquid crystals but also for their in situ postsynthetic modification by using the dynamic covalent nature of imine bonds. The methodology allows systematic investigations of structure-property relationships as well as the manipulation of the materials' behavior (liquid crystallinity) and the introduction of additional properties (here, fluorescence) by a solvent-free method. For the first time, the transamination reaction is followed by variable-temperature ¹⁹F solid-state NMR in the mesophase, providing insights into the reaction dynamics in a liquid crystalline material. Finally, the application potential for the design of liquid crystalline materials with adaptive properties is demonstrated by a sequential combination of these reactions.

Liquid Crystalline Elastomers Based on Click Chemistry

Liquid crystalline elastomers (LCEs) have emerged as an important class of functional materials that are suitable for a wide range of applications, such as sensors, actuators, and soft robotics. The unique properties of LCEs originate from the combination between liquid crystal and elastomeric network. The control of macroscopic liquid crystalline orientation and network structure is crucial to realizing the useful functionalities of LCEs. A variety of chemistries have been developed to fabricate LCEs, including hydrosilylation, free radical polymerization of acrylate, and polyaddition of epoxy and carboxylic acid. Over the past few years, the use of click chemistry has become a more robust and energy-efficient way to construct LCEs with desired structures. This article provides an overview of emerging LCEs based on click chemistries, including aza-Michael addition between amine and acrylate, radical-mediated thiol-ene and thiol-yne reactions, base-catalyzed thiol-acrylate and thiol-epoxy reactions, copper-catalyzed azide-alkyne cycloaddition, and Diels-Alder cycloaddition. The similarities and differences of these reactions are discussed, with particular attention focused on the strengths and limitations of each reaction for the preparation of LCEs with controlled structures and orientations. The compatibility of these reactions with the traditional and emerging processing techniques, such as surface alignment and additive manufacturing, are surveyed. Finally, the challenges and opportunities of using click chemistry for the design of LCEs with advanced functionalities and applications are discussed.

Imine-Based Reactive Mesogen and Its Corresponding Exchangeable Liquid Crystal Elastomer

To date, exchangeable liquid crystalline elastomers (xLCEs) have been mainly fabricated by combining conventional LCEs with additional exchangeable functional groups in their networks. While conventional LCEs are frequently made from commercially available aromatic–ester reacting mesogens or from mesogens based on a biphenyl core, such reacting monomers are not optimized to fabricating xLCEs whose bond-exchange reaction is fast and clean cut. Here, we develop a fast synthesis route to produce a new type of reactive mesogen based on an aromatic–imine structure that intrinsically enables a fast and stable bond-exchange reaction in the resulting imine-based xLCE. This new xLCE displays vitrimer plastic-flow behavior, and its bond-exchange activation energy is calculated to be 54 kJ/mol. We also demonstrate that this xLCE is thermally stable to withstand many recycling cycles without visible decay, and its liquid crystallinity is preserved. Finally, we demonstrate the reprogramming and realignment of the mesogen orientation in this xLCE with the realigned xLCE capable of reversible thermal actuation.

Fully Room-Temperature Reprogrammable, Reprocessable, and Photomobile Soft Actuators from a High-Molecular-Weight Main-Chain Azobenzene Crystalline Poly(ester-amide)

Azobenzene (azo) polymer photoactuators with full room-temperature reprogrammability, reprocessability, and photomobility are highly desirable for large-scale applications, but their development remains a daunting challenge. Herein, a strategy is first presented for fabricating such advanced photoactuators from a high-molecular-weight main-chain azo crystalline poly(ester-amide) (PEA) prepared via Michael addition polymerization. This azo PEA can be readily processed into both physically cross-linked, uniaxially oriented fibers and films with high mechanical robustness and reversible photoinduced bending/unbending at room temperature. Importantly, the presence of both amide unit-induced hydrogen bonding and crystalline domains in such films and fibers endows them with dynamic, yet stable cross-linking points, which enable their easy reprogrammability under strain at room temperature into various three-dimensional (3D) shapes (e.g., film helicoid and spiral ribbon, fiber spring) capable of showing completely different shape-dependent photomobile modes. In particular, these reshaped photoactuators can maintain their accurate 3D shapes and highly reversible photoinduced motions even after being kept at 80 °C for 20 days or at 100 °C for 2 days. They can also be reprocessed and recycled from solution at room temperature. Such a multifunctional main-chain azo crystalline PEA can serve as a versatile platform for fabricating various photoactuators with desired 3D shapes and motion modes under mild ambient conditions.

Effects of photo-isomerizable side groups on the phase and mechanical properties of main-chain nematic elastomers

A series of main-chain nematic liquid crystal elastomers containing various photo-isomerizable side groups branching from the main chain were synthesized. The effects of the side groups on the thermal phase and mechanical properties were explored.