Programmable and Reversible 3D-/4D-Shape-Morphing Hydrogels with Precisely Defined Ion Coordination

4D hydrogels: fabrication strategies, stimulation mechanisms, and biomedical applications

Shape-morphing hydrogels have emerged as a promising biomaterial due to their ability to mimic the anisotropic tissue composition by creating a gradient in local swelling behavior. In this case, shape deformations occur due to the non-uniform distribution of internal stresses, asymmetrical swelling, and shrinking of different parts of the same hydrogel. Herein, we discuss the four-dimensional (4D) fabrication techniques (extrusion-based printing, dynamic light processing, and solvent casting) employed to prepare shape-shifting hydrogels. The important distinction between mono- and dual-component hydrogel systems, the capabilities of 3D constructs to undergo uni- and bi-directional shape changes, and the advantages of composite hydrogels compared to their pristine counterparts are presented. Subsequently, various types of actuators such as moisture, light, temperature, pH, and magnetic field and their role in achieving the desired and pre-determined shapes are discussed. These 4D gels have shown remarkable potential as programmable scaffolds for tissue regeneration and drug-delivery systems. Finally, we present futuristic insights into integrating piezoelectric biopolymers and sensors to harvest mechanical energy from motions during shape transformations to develop self-powered biodevices.

Stimuli-Responsive Hydrogels: The Dynamic Smart Biomaterials of Tomorrow

In the past decade, stimuli-responsive hydrogels are increasingly studied as biomaterials for tissue engineering and regenerative medicine purposes. Smart hydrogels can not only replicate the physicochemical properties of the extracellular matrix but also mimic dynamic processes that are crucial for the regulation of cell behavior. Dynamic changes can be influenced by the hydrogel itself (isotropic vs anisotropic) or guided by applying localized triggers. The resulting swelling-shrinking, shape-morphing, as well as patterns have been shown to influence cell function in a spatiotemporally controlled manner. Furthermore, the use of stimuli-responsive hydrogels as bioinks in 4D bioprinting is very promising as they allow the biofabrication of complex microstructures. This perspective discusses recent cutting-edge advances as well as current challenges in the field of smart biomaterials for tissue engineering. Additionally, emerging trends and potential future directions are addressed.

Fabricating 3D Moisture- and NIR Light-Responsive Actuators by a One-Step Gradient Stress-Relaxation Process

Polymeric materials that can actuate under the stimulation of environmental signals have attracted considerable attention in fields including artificial muscles, soft robotics, implantable devices, etc. To date, the improvement of shape-changing flexibility is mainly limited by their unchangeable shapes and structural and compositional distributions. In this work, we report a one-step treatment process to convert 2D poly(ethylene oxide)/sodium alginate/tannic acid thin films into 3D-shaped moisture- and NIR light-responsive actuators. Spatial surface wetting of the film leads to the release of residual stress generated in film formation in a gradient manner, which drives the wetted regions to bidirectionally bend. By controlling the position and bending amplitude of the wetted regions, designated 3D shapes can be obtained. Moreover, Fe3+ ions in the aqueous solution used for surface wetting can coordinate with carboxylate groups in sodium alginate chains to form a gradient cross-linking network. This gradient network can not only stabilize the resulting 3D shape but also render the film with moisture-responsive morphing behaviors. Fe3+ ions can also self-assemble with tannic acid molecules to form photothermal aggregates, making the film responsive to NIR light. We further show that films with versatile 3D shapes and different modes of deformation can be fabricated by a one-step treatment process. This strategy is convenient and extendable to develop 3D-shaped polymer actuators with flexible shape-changing behaviors.

3D Printed Silicones with Shape Morphing and Low-Temperature Ultraelasticity

3D printed silicones have demonstrated great potential in diverse areas by combining the advantageous physiochemical properties of silicones with the unparalleled design freedom of additive manufacturing. However, their low-temperature performance, which is of particular importance for polar and space applications, has not been addressed. Herein, a 3D printed silicone foam with unprecedented low-temperature elasticity is presented, which is featured with extraordinary fatigue resistance, excellent shape recovery, and energy-absorbing capability down to a low temperature of -60 °C after extreme compression (an intensive load of over 66000 times its own weight). The foam is achieved by direct writing of a phenyl silicone-based pseudoplastic ink embedded with sodium chloride as sacrificial template. During the water immersion process to create pores in the printed filaments, a unique osmotic pressure-driven shape morphing strategy is also reported, which offers an attractive alternative to traditional 4D printed hydrogels in virtue of the favorable mechanical robustness of the silicone material. The underlying mechanisms for shape morphing and low-temperature elasticity are discussed in detail.

Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots

Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.

Molecularly Engineered Unparalleled Strength and Supertoughness of Poly(urea-urethane) with Shape Memory and Clusterization-Triggered Emission

To address the challenge of realizing multifunctional polymers simultaneously exhibiting high strength and high toughness through molecular engineering, ultrastrong and supertough shape-memory poly(urea-urethane) (PUU) is fabricated by regulating: i) the reversible cross-links composed of rigid units and multiple hydrogen bonds, and ii) the molecular weight of soft segments. The optimal material exhibits an unparalleled strength of 84.2 MPa at a large elongation at a break of 925.6%, a superior toughness of 322.8 MJ m^-3 , and remarkable fatigue resistance without fracture. The repeated stretching of this material induces an irreversible deformation, which, however, can be rapidly recovered by heating. Moreover, all samples are capable of temporary shape fixation at -40 °C (recovering the original shape at 30 °C) and exhibit blue fluorescence when excited at the optimum wavelength, which is ascribed to clusterization-triggered emission (CTE) due to the formation of microphase-separation structures. Thus, the adopted approach provides a solution to a long-standing problem and paves the way to the realization of intrinsically luminescent shape-memory materials exhibiting both ultrahigh strength and ultrahigh toughness.

Hydrogels as functional components in artificial cell systems

Recent years have seen substantial efforts aimed at constructing artificial cells from various molecular components with the aim of mimicking the processes, behaviours and architectures found in biological systems. Artificial cell development ultimately aims to produce model constructs that progress our understanding of biology, as well as forming the basis for functional bio-inspired devices that can be used in fields such as therapeutic delivery, biosensing, cell therapy and bioremediation. Typically, artificial cells rely on a bilayer membrane chassis and have fluid aqueous interiors to mimic biological cells. However, a desire to more accurately replicate the gel-like properties of intracellular and extracellular biological environments has driven increasing efforts to build cell mimics based on hydrogels. This has enabled researchers to exploit some of the unique functional properties of hydrogels that have seen them deployed in fields such as tissue engineering, biomaterials and drug delivery. In this Review, we explore how hydrogels can be leveraged in the context of artificial cell development. We also discuss how hydrogels can potentially be incorporated within the next generation of artificial cells to engineer improved biological mimics and functional microsystems.

Antifatigue Hydration-Induced Polysaccharide Hydrogel Actuators Inspired by Crab Joint Wrinkles

Joint wrinkles in animals facilitate frequent bending and contribute to the duration of the joint. Inspired by the morphology and function of joint wrinkles, we developed a bionic hydration-induced polymeric actuator with constructed wrinkles at the selected area. Specifically, we adopt electrical writing to create defined single and double cross-linking regions on chitosan (CS) hydrogel. The covalent cross-linking network was constructed by electrical writing-induced covalent cross-linking between CS chains and epichlorohydrin. Subsequent treatment of sodium dodecyl sulfate allows electrostatic cross-linking at the unwritten area with the simultaneous formation of surface wrinkles. The resulting single and double cross-linking hydrogel demonstrates spontaneous deformation behaviors by the influx and efflux of H₂O to the electrostatic cross-linking domain under different ion concentrations. Importantly, the wrinkle structure endows the hydrogel with extraordinary antifatigue bending performance. By regulating the surface morphology and spatial cross-linking, we can design novel biomimetic polysaccharide hydrogel actuators with fascinating functions.

Electrochemistry-Induced Improvements of Mechanical Strength, Self-Healing, and Interfacial Adhesion of Hydrogels

Hydrogels have demonstrated great potential in biomedical and engineering areas. To improve the physical performance, development of efficient physical/chemical protocols is essential. Herein, an electrochemistry functionalization strategy that is capable of enabling the functional improvements of hydrogel is reported. The electrochemistry functionalization is demonstrated on a hydrogel model of polyacrylamide (PAAm)@κ-carrageenan. The electrochemistry reaction generates metal ions (Fe³⁺ ) that migrate and coordinate with the sulfate groups of κ-carrageenan resulting in the prominent function improvements. In comparison with untreated PAAm@κ-carrageenan hydrogel, it can improve the mechanical strength by 7.37 times, and can increase the interfacial adhesion energy of the hydrogel on a glass surface from 0 to 1400 J m^-2 , stronger than the bonding strength of tendons (adhesion energy: ≈800 J m^-2 ). Two pieces of hydrogel strips integrate into an intact structure by the electrochemistry functionalization, where the healing efficiency reaches 100% in comparison to the untreated hydrogel. The most significant development is that it enables functional patterning on the hydrogel by the electrode assembly, which provides the hydrogel with modular sensitivity to external pressure. Therefore, it can be a general protocol for rapid generation of multifunctional hydrogels for biomedical and engineering developments.

Recent progress in the shape deformation of polymeric hydrogels from memory to actuation

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli. Due to their wet and soft properties, shape deformation hydrogels are anticipated to be a candidate for the exploration of biomimetic materials, and have shown various potential applications in many fields. Here, an overview of the mechanisms of shape deformation hydrogels and methods for their preparation is presented. Some innovative and efficient strategies to fabricate programmable deformation hydrogels are then introduced. Moreover, successful explorations of their potential applications, including information encryption, soft robots and bionomic systems, are discussed. Finally, remaining great challenges including the achievement of multiple stable deformation states and the combination of shape deformation and sensing are highlighted.

Recent progress on hydrogel actuators

This review outlines progress in hydrogels with well-defined heterogeneity in structures and responsiveness by using sequential synthesis, photolithography, 3D/4D printing, and macroscopic assembling for programmable shape morphing or actuations.

Programmable Deformations of Biomimetic Composite Hydrogels Embedded with Printed Fibers

Shape deformations are prevalent in nature, which are closely related to the heterogeneous structures with a feature of fibrous elements embedded in a matrix. The microfibers with specific orientations act as either passive geometrical constraints in an active matrix or active elements in a passive matrix, which generate programmed internal stresses and drive shape morphing under external stimuli. Morphing materials can be designed in a biomimetic way, yet it is challenging to fabricate composite hydrogels with well-distributed fibers by a facile strategy. Here, we demonstrate the fabrication of microfiber-embedded hydrogels facilitated by the extrusion-based printing technology. Programmed deformations are achieved in these hydrogels with microfibers distributed in the upper and/or bottom layers of the gel matrix. Under external stimuli, the microfibers and the gel matrix have different responses that produce internal stresses and result in programmable deformations of the composite gel. Multiple shape transformations are realized in the hydrogel by embedding multiple types of responsive microfibers in the passive or active matrix, which is fabricated with the assistance of multinozzle printing. A soft hook is designed to show the capacity of the composite hydrogel to hold and move an object in a saline solution. This facile and versatile strategy provides an alternative way to prepare biomimetic hydrogels with potential applications in biomedical devices, flexible electronics, and soft robots.

Photoregulated Gradient Structure and Programmable Mechanical Performances of Tough Hydrogels with a Hydrogen-Bond Network

Gradient materials exist widely in natural living organisms, affording fascinating biological and mechanical properties. However, the synthetic gradient hydrogels are usually mechanically weak or only have relatively simple gradient structures. Here, we report on tough nanocomposite hydrogels with designable gradient network structure and mechanical properties by a facile post-photoregulation strategy. Poly(1-vinylimidazole-co-methacrylic acid) hydrogels containing gold nanorods (AuNRs) are in a glassy state and show typical yielding and forced elastic deformation at room temperature. The gel slightly contracts its volume when the temperature is above the glass-transition temperature that results in a collapse of the chain segments and formation of denser intra- and interchain hydrogen bonds. Consequently, the mechanical properties of the gels are enhanced, when the temperature returns to room temperature. The mechanical performances of hydrogels can also be locally tuned by near-infrared light irradiation due to the photothermal effect of AuNRs. Hydrogels with arbitrary two-dimensional gradients can be facilely developed by site-specific photoirradiation. The treated and untreated regions with different stiffness and yielding stress possess construct behaviors in stretching or twisting deformations. A locally reinforced hydrogel with the kirigami structure becomes notch-insensitive and exhibits improved strength and stretchability because the treated regions ahead the cuts have better resistance to crack advancement. These tough hydrogels with programmable gradient structure and mechanics should find applications as structural elements, biological devices, etc.

Precisely Controlling the Output Force of Hydrogel Actuator Based on Thermodynamic Nonequilibrium Temporary Deformation

Self-shaping hydrogel actuators have promising applications in various fields. However, one hydrogel actuator can generally access only one specifically predefined deformation and output force, which are determined by its thermodynamic equilibrium swelling state under external stimuli. Here, we present a simple yet versatile strategy for precisely programming the output force/energy of dual-gradient hydrogel actuators. The strategy is based on thermodynamic nonequilibrium snapping deformations occurring during the recovery process of predeformed dual-gradient hydrogel actuators in low-temperature water. The output force/energy of such thermodynamic nonequilibrium snapping deformation is highly associated with predeformation conditions of the hydrogel actuators, which increases with the increase of the predeformation temperature or time. In consequence, just by adjusting the predeformation conditions of the dual-gradient hydrogel actuators, their output force, energy, and power can be modulated precisely and continuously during the snapping deformation. The as-prepared hydrogel actuators can not only be used as smart lifters and grippers with ultrahigh accuracy of weight identification but also act as smart switches in the timing circuits with precisely adjustable operating time, paving the way for the design of a new generation of actuation materials.

Mechanically Strong, Tough, and Shape Deformable Poly(acrylamide-co-vinylimidazole) Hydrogels Based on Cu2+ Complexation

Shape deformable hydrogels have drawn great attention due to their wide applications as soft actuators. Here we report a novel kind of mechanically strong, tough, and shape deformable poly(acrylamide-co-vinylimidazole) [poly(AAm-co-VI)] hydrogel prepared by photoinitiated copolymerization and the followed immersing in a Cu²⁺ aqueous solution. Strong Cu²⁺ complexation with imidazole groups dramatically enhances the mechanical properties of the hydrogels, whose tensile strength, elastic modulus, toughness, and fracture energy reach up to 7.7 ± 0.76 MPa, 15.4 ± 1.2 MPa, 23.2 ± 2.5 MJ m^-3, and 22.1 ± 2.3 kJ m^-2, respectively. More impressively, shape deformation (bending) can be easily achieved by coating Cu²⁺ solution on one side of hydrogel strips. Furthermore, precise control of the shape deformation from 1D to 2D and 2D to 3D can be achieved by adjusting Cu²⁺ concentration, coating time, region, and one or two side(s) of hydrogel samples. The Cu²⁺ complexation provides a simple way to simultaneously improve the mechanical properties of hydrogels and enable them with shape deformability. The mechanically strong, tough, and shape deformable hydrogels might be a promising candidate for soft actuators.