Enzyme-Triggered Folding of Hydrogels: Toward a Mimic of the Venus Flytrap

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.

Lipid-inspired biomimicking morphosynthesis of a series of complex concave silica architectures

The lipid-inspired biosilicification process enables the creation of a series of concave silica nanoarchitectures in the complex shapes of nanobowls, nanodishes, nanoboats, and nanoloops. The reaction at a pH of 8 initially allows the formation of thin and elastic circular gel nanosheets that can undergo inducible stretching and folding, which subsequently evolves into nanodish and nanobowl through a potential global buckling process. The adjustment of the pH to 9 and 4 enables the production of more complex morphogens of nanoboat and nanoloop, respectively. These unique silica nanoarchitectures may have a wide scope of potential application from nanoreactors in heterogenous catalysis to drug delivery systems and optical materials.

Biomimetic Venus Flytrap Structures Using Smart Composites: A Review

Biomimetic structures are inspired by elegant and complex architectures of natural creatures, drawing inspiration from biological structures to achieve specific functions or improve specific strength and modulus to reduce weight. In particular, the rapid closure of a Venus flytrap leaf is one of the fastest motions in plants, its biomechanics does not rely on muscle tissues to produce rapid shape-changing, which is significant for engineering applications. Composites are ubiquitous in nature and are used for biomimetic design due to their superior overall performance and programmability. Here, we focus on reviewing the most recent progress on biomimetic Venus flytrap structures based on smart composite technology. An overview of the biomechanics of Venus flytrap is first introduced, in order to reveal the underlying mechanisms. The smart composite technology was then discussed by covering mainly the principles and driving mechanics of various types of bistable composite structures, followed by research progress on the smart composite-based biomimetic flytrap structures, with a focus on the bionic strategies in terms of sensing, responding and actuation, as well as the rapid snap-trapping, aiming to enrich the diversities and reveal the fundamentals in order to further advance the multidisciplinary science and technological development into composite bionics.

Untethered shape-changing devices in the gastrointestinal tract

INTRODUCTION

Advances in microfabrication, automation, and computer engineering seek to revolutionize small-scale devices and machines. Emerging trends in medicine point to smart devices that emulate the motility, biosensing abilities, and intelligence of cells and pathogens that inhabit the human body. Two important characteristics of smart medical devices are the capability to be deployed in small conduits, which necessitates being untethered, and the capacity to perform mechanized functions, which requires autonomous shape-changing.

AREAS COVERED

We motivate the need for untethered shape-changing devices in the gastrointestinal tract for drug delivery, diagnosis, and targeted treatment. We survey existing structures and devices designed and utilized across length scales from the macro to the sub-millimeter. These devices range from triggerable pre-stressed thin film microgrippers and spring-loaded devices to shape-memory and differentially swelling structures.

EXPERT OPINION

Recent studies demonstrate that when fully enabled, tether-free and shape-changing devices, especially at sub-mm scales, could significantly advance the diagnosis and treatment of GI diseases ranging from cancer and inflammatory bowel disease (IBD) to irritable bowel syndrome (IBS) by improving treatment efficacy, reducing costs, and increasing medication compliance. We discuss the challenges and possibilities associated with ensuring safe, reliable, and autonomous operation of these smart devices.

Photoresponsive hydrogel-based soft robot: A review

Soft robots have received a lot of attention because of their great human-robot interaction and environmental adaptability. Most soft robots are currently limited in their applications due to wired drives. Photoresponsive soft robotics is one of the most effective ways to promote wireless soft drives. Among the many soft robotics materials, photoresponsive hydrogels have received a lot of attention due to their good biocompatibility, ductility, and excellent photoresponse properties. This paper visualizes and analyzes the research hotspots in the field of hydrogels using the literature analysis tool Citespace, demonstrating that photoresponsive hydrogel technology is currently a key research direction. Therefore, this paper summarizes the current state of research on photoresponsive hydrogels in terms of photochemical and photothermal response mechanisms. The progress of the application of photoresponsive hydrogels in soft robots is highlighted based on bilayer, gradient, orientation, and patterned structures. Finally, the main factors influencing its application at this stage are discussed, including the development directions and insights. Advancement in photoresponsive hydrogel technology is crucial for its application in the field of soft robotics. The advantages and disadvantages of different preparation methods and structures should be considered in different application scenarios to select the best design scheme.

Perspective for soft robotics: the field's past and future

Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.

Fabrication of heterogeneous chemical patterns on stretchable hydrogels using single-photon lithography

Curved hydrogel surfaces bearing chemical patterns are highly desirable in various applications, including artificial blood vessels, wearable electronics, and soft robotics. However, previous studies on the fabrication of chemical patterns on hydrogels employed two-photon lithography, which is still not widely accessible to most laboratories. This work demonstrates a new patterning technique for fabricating curved hydrogels with chemical patterns on their surfaces without two-photon microscopy. In this work, we show that exposing hydrogels in fluorophore solutions to single photons via confocal microscopy enables the patterning of fluorophores on hydrogels. By applying this technique to highly stretchable hydrogels, we demonstrate three applications: (1) improving pattern resolution by fabricating patterns on stretched hydrogels and then returning the hydrogels to their initial, unstretched length; (2) modifying the local stretchability of hydrogels at a microscale resolution; and (3) fabricating perfusable microchannels with chemical patterns by winding chemically patterned hydrogels around a template, embedding the hydrogels in a second hydrogel, and then removing the template. The patterning method demonstrated in this work may facilitate a better mimicking of the physicochemical properties of organs in tissue engineering and may be used to make hydrogel robots with specific chemical functionalities.

Plant-inspired multi-stimuli and multi-temporal morphing composites

Plants are inspiring models for adaptive, morphing systems. In addition to their shape complexity, they can respond to multiple stimuli and exhibit both fast and slow motion. We attempt to recreate these capabilities in synthetic structures, proposing a fabrication and design scheme for multi-stimuli and multi-temporal responsive plant-inspired composites. We leverage a hierarchical, spatially tailored microstructural and compositional scheme to enable both fast morphing through bistability and slow morphing through diffusion processes. The composites consisted of a hydrogel layer made of gelatine and an architected particle-reinforced epoxy bilayer. Using magnetic fields to achieve spatially distributed orientations of magnetically responsive platelets in each epoxy layer, complex bilayer architectural patterns in various geometries were realised. This feature enabled the study of plant-inspired complex designs,viafinite element analysis and experiments. We present the design and fabrication strategy utilizing the material properties of the composites. The deformations and temporal responses of the resulting composites are analysed using digital image correlation. Finally, we model and experimentally demonstrate plant-inspired composite shells whose stable shapes closely mimic those of the Venus flytrap, while maintaining the multi-stimuli and multi-temporal responses of the materials. The key to achieving this is to tune the local in-plane orientations of the reinforcing particles in the bilayer shapes, to induce distributed in-plane mechanical properties and shrinkage. How these particles should be distributed is determined using finite element modelling. The work presented in this study can be applied to autonomous applications such as robotic systems.

The effect of the printing temperature on 4D DLP printed pNIPAM hydrogels

Additive manufacturing (AM), in its little more than 40 years of existence, has already established itself as a technology with enormous potential for several fields, especially the ones that require complex, high resolution, small structures, such as tissue engineering. This field has been especially attracted to the most recent AM evolution, 4D printing, due to its ability to create structures responsive to external stimuli. Among the range of materials that are simultaneously suitable for 4D printing and biological uses, poly(N-isopropylacrylamide) (pNIPAM) stands out. pNIPAM presents exceptional characteristics such as a low critical solution temperature (LCST) close to the human physiological temperature and biocompatibility with several cell types. However, these characteristics are greatly affected by processing parameters. In this work, pNIPAM hydrogels were manufactured by AM using digital light processing; the printing temperature was varied between 5, 10 and 15 °C to analyze how it affects the hydrogels' final properties. The impact on hydrogels was analyzed by differential scanning calorimetry (DSC), swelling, deswelling and reswelling analyses, scanning electron microscopy (SEM) images, and compression tests. Based on our results increasing the production temperature of the hydrogels by 10 °C led to a decrease of more than 50% in the maximum swelling capacity, approximately 10% increase in water retention, and 6.5 °C variation in the LCST. The justification for such behaviour lies in the increase of the crosslinking rate and thickening of the external layer of hydrogels, which prevents the free movement of water from its interior.

Materials for Smart Soft Actuator Systems

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

Programmable Mechanically Active Hydrogel-Based Materials

Programmable mechanically active materials (MAMs) are defined as materials that can sense and transduce external stimuli into mechanical outputs or conversely that can detect mechanical stimuli and respond through an optical change or other change in the appearance of the material. Programmable MAMs are a subset of responsive materials and offer potential in next generation robotics and smart systems. This review specifically focuses on hydrogel-based MAMs because of their mechanical compliance, programmability, biocompatibility, and cost-efficiency. First, the composition of hydrogel MAMs along with the top-down and bottom-up approaches used for programming these materials are discussed. Next, the fundamental principles for engineering responsivity in MAMS, which includes optical, thermal, magnetic, electrical, chemical, and mechanical stimuli, are considered. Some advantages and disadvantages of different responsivities are compared. Then, to conclude, the emerging applications of hydrogel-based MAMs from recently published literature, as well as the future outlook of MAM studies, are summarized.

Bicomponent Coassembled Hydrogel as a Template for Selective Enzymatic Generation of DOPA

In living organisms, tyrosinase selectively produces l-DOPA from l-tyrosine. Here, a bicomponent hydrogel is used as a template for tyrosinase-catalyzed selective generation of l-DOPA from tyrosine. An amphiphilic molecule 1,5-diaminonaphthalene (DAN) coassembles with 1,3,5-benzenetricarboxylic acid (BTC) to form a self-supporting hydrogel. After alteration of complementary acids, DAN does not coassemble to form a hydrogel. The coassembly mechanism is investigated using spectroscopic techniques. The transmission electron microscopy and scanning electron microscopy images reveal the morphology details. The l-DOPA is kept from being oxidized when the hydrogel is used as a template. The enzymatically synthesized l-DOPA can also be separated from the mixture by easy tuning of the bicomponent coassembly.

Recent Progress on Plant-Inspired Soft Robotics with Hydrogel Building Blocks: Fabrication, Actuation and Application

Millions of years’ evolution has imparted life on earth with excellent environment adaptability. Of particular interest to scientists are some plants capable of macroscopically and reversibly altering their morphological and mechanical properties in response to external stimuli from the surrounding environment. These intriguing natural phenomena and underlying actuation mechanisms have provided important design guidance and principles for man-made soft robotic systems. Constructing bio-inspired soft robotic systems with effective actuation requires the efficient supply of mechanical energy generated from external inputs, such as temperature, light, and electricity. By combining bio-inspired designs with stimuli-responsive materials, various intelligent soft robotic systems that demonstrate promising and exciting results have been developed. As one of the building materials for soft robotics, hydrogels are gaining increasing attention owing to their advantageous properties, such as ultra-tunable modulus, high compliance, varying stimuli-responsiveness, good biocompatibility, and high transparency. In this review article, we summarize the recent progress on plant-inspired soft robotics assembled by stimuli-responsive hydrogels with a particular focus on their actuation mechanisms, fabrication, and application. Meanwhile, some critical challenges and problems associated with current hydrogel-based soft robotics are briefly introduced, and possible solutions are proposed. We expect that this review would provide elementary tutorial guidelines to audiences who are interested in the study on nature-inspired soft robotics, especially hydrogel-based intelligent soft robotic systems.

Robust Near-Infrared-Responsive Composite Hydrogel Actuator Using Fe3+/Tannic Acid as the Photothermal Transducer

Light-driven hydrogel actuators show potential applications because their spatiotemporal precision and contact-free manner, especially for near-infrared light (NIR), can be focused on a specific area, which possesses tunable intensity and strong penetrability. Herein, we propose a novel NIR-responsive hydrogel actuator incorporating Fe³⁺/tannic acid (Fe³⁺/TA) as a photothermal transducer into the poly(N-isopropylacrylamide) (PNIPAAm) hydrogel via photo-cross-linking and subsequent immersion in FeCl₃ solution. TA contains abundant pyrogallol and catechol groups, which can be linked to PNIPAAm through hydrogen bonds during in situ polymerization; moreover, as a mediator, TA can form metal-phenolic networks with Fe³⁺ via the coordination between catechol and metal ions, endowing the PNIPAAm gel with enhanced mechanical properties as well as NIR-responsive photothermal effect. We demonstrated that introduction of Fe³⁺/TA maintained the volume phase transition temperature of the hydrogel around 32 °C and guaranteed its deformation behaviors upon NIR irradiation. Furthermore, a higher concentration level of BIS and Fe³⁺ were verified to facilitate a stronger photothermal capacity of the hydrogels. Therefore, under NIR irradiation, Fe³⁺/TA within the hydrogel converted NIR light into heat, and the local high temperature in the irradiated region would cause the petals of the "snowflake"-shaped hydrogel to bend upward perpendicular to the horizontal plane within 1 min, possessing excellent repeatability. This study puts forward a new idea of preparing NIR-responsive hydrogel actuators based on Fe³⁺/TA, which show promising application in the fields of biomimetic devices, flowing control, and soft robotics.

Multilayer tubes that constrict, dilate, and curl in response to stimuli

Tubular structures in nature have the ability to respond to their environment-for example, blood vessels can constrict or dilate, thereby regulating flow velocity and blood pressure. These tubes have multiple concentric layers, with each layer having a distinct composition and properties. Inspired by such natural structures, we have synthesized responsive multilayer tubes in the laboratory without resorting to complex equipment such as a 3-D printer. Each layer of our tubes is a polymer gel formed by free-radical polymerization of water-soluble monomers. We can precisely control the inner diameter of the tube, the number of layers in the tube wall, and the thickness and chemistry of each layer. Tubes synthesized in this manner are robust, flexible, and stretchable. Moreover, our technique allows us to incorporate stimuli-responsive polymers into distinct regions of these tubes, and the resulting tubes can change their shape in response to external stimuli such as pH or temperature. In the case of laterally patterned tubes, the tube can be made to constrict or dilate over a particular segment-a behavior that is reminiscent of blood vessels. In the case of longitudinally patterned tubes, a straight tube can be induced to systematically curl into a coil. The versatility of our technique is further shown by constructing complex tubular architectures, including branched networks. On the whole, the polymeric tubes shown in this paper exhibit remarkable properties that cannot be realized by other techniques. Such tubes could find utility in biomedical engineering to construct anatomically realistic mimics of various tissues.

From prevention to diagnosis and treatment: Biomedical applications of metal nanoparticle-hydrogel composites

Recent advances in biomaterials integrate metal nanoparticles with hydrogels to generate composite materials that exhibit new or improved properties. By precisely controlling the composition, arrangement and interactions of their constituents, these hybrid materials facilitate biomedical applications through myriad approaches. In this work we seek to highlight three popular frameworks for designing metal nanoparticle-hydrogel hybrid materials for biomedical applications. In the first approach, the properties of metal nanoparticles are incorporated into a hydrogel matrix such that the composite is selectively responsive to stimuli such as light and magnetic flux, enabling precisely activated therapeutics and self-healing biomaterials. The second approach mediates the dynamic reorganization of metal nanoparticles based on environment-directed changes in hydrogel structure, leading to chemosensing, microbial and viral detection, and drug-delivery capabilities. In the third approach, the hydrogel matrix spatially arranges metal nanoparticles to produce metamaterials or passively enhance nanoparticle properties to generate improved substrates for biomedical applications including tissue engineering and wound healing. This article reviews the construction, properties and biomedical applications of metal nanoparticle-hydrogel composites, with a focus on how they help to prevent, diagnose and treat diseases. Discussion includes how the composites lead to new or improved properties, how current biomedical research leverages these properties and the emerging directions in this growing field.

Artificial Venus Flytraps: A Research Review and Outlook on Their Importance for Novel Bioinspired Materials Systems

Bioinspired and biomimetic soft machines rely on functions and working principles that have been abstracted from biology but that have evolved over 3.5 billion years. So far, few examples from the huge pool of natural models have been examined and transferred to technical applications. Like living organisms, subsequent generations of soft machines will autonomously respond, sense, and adapt to the environment. Plants as concept generators remain relatively unexplored in biomimetic approaches to robotics and related technologies, despite being able to grow, and continuously adapt in response to environmental stimuli. In this research review, we highlight recent developments in plant-inspired soft machine systems based on movement principles. We focus on inspirations taken from fast active movements in the carnivorous Venus flytrap (Dionaea muscipula) and compare current developments in artificial Venus flytraps with their biological role model. The advantages and disadvantages of current systems are also analyzed and discussed, and a new state-of-the-art autonomous system is derived. Incorporation of the basic structural and functional principles of the Venus flytrap into novel autonomous applications in the field of robotics not only will inspire further plant-inspired biomimetic developments but might also advance contemporary plant-inspired robots, leading to fully autonomous systems utilizing bioinspired working concepts.

Laser reprogramming magnetic anisotropy in soft composites for reconfigurable 3D shaping

Responsive soft materials capable of exhibiting various three-dimensional (3D) shapes under the same stimulus are desirable for promising applications including adaptive and reconfigurable soft robots. Here, we report a laser rewritable magnetic composite film, whose responsive shape-morphing behaviors induced by a magnetic field can be digitally and repeatedly reprogrammed by a facile method of direct laser writing. The composite film is made from an elastomer and magnetic particles encapsulated by a phase change polymer. Once the phase change polymer is temporarily melted by transient laser heating, the orientation of the magnetic particles can be re-aligned upon change of a programming magnetic field. By the digital laser writing on selective areas, magnetic anisotropies can be encoded in the composite film and then reprogrammed by repeating the same procedure, thus leading to multimodal 3D shaping under the same actuation magnetic field. Furthermore, we demonstrated their functional applications in assembling multistate 3D structures driven by the magnetic force-induced buckling, fabricating multistate electrical switches for electronics, and constructing reconfigurable magnetic soft robots with locomotion modes of peristalsis, crawling, and rolling.

Responsive soft materials which can exhibit various three-dimensional (3D) shapes under the same stimulus are desirable for applications in adaptive and reconfigurable soft robots. Here, the authors report a laser rewritable magnetic composite film, whose responsive shape-morphing behaviors induced by a magnetic field can be digitally and repeatedly reprogrammed by a facile method of direct laser writing.

Programming the Shape Transformation of a Composite Hydrogel Sheet via Erasable and Rewritable Nanoparticle Patterns

Hydrogels with shapes that can be adapted to their environment have attracted great attention from both academia and industry. We report herein a new and robust strategy to reprogram the light-induced shape transformation of a thermoresponsive composite hydrogel sheet with erasable and rewritable patterns of iron oxide nanoparticles as photothermal agents. Numerous distinct and reversible shape transformations are achieved from a single hydrogel sheet by repeatably writing in the sheet with different nanoparticle patterns. The shape transformations were verified by finite element modeling. The present strategy is simple, fast, and efficient in reprogramming the shape change of the thermoresponsive hydrogel material. The composite hydrogel sheet may find applications in soft robotics, tissue engineering, and controlled release.

Catalyst-Loaded Capsules that Spontaneously Inflate and Violently Eject their Core

We present a design for polymer capsules that exhibit a range of unusual autonomous behaviors when exposed to a chemical fuel. The capsules have a physically gelled core (alginate-Ca²⁺) loaded with catalytic (silver) particles and a shell composed of a chemically cross-linked gel. In the presence of the fuel (H₂O₂), a catalytic reaction occurs, which generates oxygen (O₂) gas. The gas collects in a zone between the core and the shell, and the resulting gas pressure causes the elastic shell to stretch. This makes the capsule inflate in a process reminiscent of a swelling pufferfish. As the capsule inflates, the polymer chains in the shell continue to stretch until a breaking point is reached, whereupon the shell ruptures. Three rupture modes are documented: gentle, moderate, and violent. The latter involves the gelled core being forcefully ejected out of the shell in a manner similar to the ejection of needles out of nematocysts on jellyfish. The extent and duration of inflation can be tuned by altering the core and shell composition; for example, shells that are more densely cross-linked swell less and rupture faster. Also, instead of a catalytic reaction, capsule inflation can be achieved by combining reactants, one in the capsule and the other in the external solution, that together generate a different gas (e.g., CO₂).

Perfluoroarene induces a pentapeptidic hydrotrope into a pH-tolerant hydrogel allowing naked eye sensing of Ca2+ ions

Self-assembly of a novel thermoresponsive, pyrene-appended oligopeptide sequence VPGKP (PyP) leads to the formation of spherical aggregates in water. The sizes of the globular aggregates of the peptide, PyP, strongly depend on the temperature of its suspension in water and decrease with the decrease in temperature showing a lower critical solution temperature (LCST) phenomenon. Furthermore, a pyrene-octafluoronaphthalene (OFN) 'pair' has been used as a supramolecular synthon to induce hydrogelation of PyP in the presence of an equimolar amount of OFN via complementary quadrupole-quadrupole interactions. The gel shows excellent pH tolerance and thixotropic behavior. Detailed studies suggest the existence of lamellar packing of the gelators in a right-handed helical fashion which yields globular aggregates. The globular aggregates are sticky in nature and form a gel via inter-globular interactions. Addition of Ca2+ ions reinforces the mechanical strength and also reduces the critical gelator concentration of the native gel through coordination with the free -COO- group of the gelator. Therefore, the present hydrogel system could further be used as a naked eye sensor of Ca2+ ions.

Trends in polymeric shape memory hydrogels and hydrogel actuators

Recently, “smart” hydrogels with either shape memory behavior or reversible actuation have received particular attention and have been further developed into sensors, actuators, or artificial muscles.

A shape-shifting composite hydrogel sheet with spatially patterned plasmonic nanoparticles

A simple and reliable approach was developed to fabricate thermo-responsive composite hydrogel sheets with spatially patterned regions of plasmonic gold nanoparticles. The same hydrogel exhibited different modes of shape deformation under near-infrared laser irradiation depending on the irradiation direction.

Modular DNA strand-displacement controllers for directing material expansion

Soft materials that swell or change shape in response to external stimuli show extensive promise in regenerative medicine, targeted therapeutics, and soft robotics. Generally, a stimulus for shape change must interact directly with the material, limiting the types of stimuli that may be used and necessitating high stimulus concentrations. Here, we show how DNA strand-displacement controllers within hydrogels can mediate size change by interpreting, amplifying, and integrating stimuli and releasing signals that direct the response. These controllers tune the time scale and degree of DNA-crosslinked hydrogel swelling and can actuate dramatic material size change in response to <100 nM of a specific biomolecular input. Controllers can also direct swelling in response to small molecules or perform logic. The integration of these stimuli-responsive materials with biomolecular circuits is a major step towards autonomous soft robotic systems in which sensing and actuation are implemented by biomolecular reaction networks.

Materials which change shape in response to a trigger are of interest for soft robotics and targeted therapeutic delivery. Here, the authors report on the development of DNA-crosslinked hydrogels which can expand upon the detection of different biomolecular inputs mediated by DNA strand-displacement.

Toward a New Generation of Smart Biomimetic Actuators for Architecture

Motile plant structures (e.g., leaves, petals, cone scales, and capsules) are functionally highly robust and resilient concept generators for the development of biomimetic actuators for architecture. Here, a concise review of the state-of-the-art of plant movement principles and derived biomimetic devices is provided. Achieving complex and higher-dimensional shape changes and passive-hydraulic actuation at a considerable time scale, as well as mechanical robustness of the motile technical structures, is challenging. For example, almost all currently available bioinspired hydraulic actuators show similar limitations due to the poroelastic time scale. Therefore, a major challenge is increasing the system size to the meter range, with actuation times of minutes or below. This means that response speed and flow rate need significant improvement for the systems, and the long-term performance degradation issue of hygroscopic materials needs to be addressed. A theoretical concept for "escaping" the poroelastic regime is proposed, and the possibilities for enhancing the mechanical properties of passive-hydraulic bilayer actuators are discussed. Furthermore, the promising aspects for further studies to implement tropistic movement behavior are presented, i.e., movement that depends on the direction of the triggering stimulus, which can finally lead to "smart building skins" that autonomously and self-sufficiently react to changing environmental stimuli in a direction-dependent manner.

Cation-induced folding of alginate-bearing bilayer gels: an unusual example of spontaneous folding along the long axis

The spontaneous folding of flat gel films into tubes is an interesting example of self-assembly. Typically, a rectangular film folds along its short axis when forming a tube; folding along the long axis has been seen only in rare instances when the film is constrained. Here, we report a case where the same free-swelling gel film folds along either its long or short axis depending on the concentration of a solute. Our gels are sandwiches (bilayers) of two layers: a passive layer of cross-linked N,N'-dimethylyacrylamide (DMAA) and an active layer of cross-linked DMAA that also contains chains of the biopolymer alginate. Multivalent cations like Ca2+ and Cu2+ induce these bilayer gels to fold into tubes. The folding occurs instantly when a flat film of the gel is introduced into a solution of these cations. The likely cause for folding is that the active layer stiffens and shrinks (because the alginate chains in it get cross-linked by the cations) whereas the passive layer is unaffected. The resulting mismatch in swelling degree between the two layers creates internal stresses that drive folding. Cations that are incapable of cross-linking alginate, such as Na+ and Mg2+, do not induce gel folding. Moreover, the striking aspect is the direction of folding. When the Ca2+ concentration is high (100 mM or higher), the gels fold along their long axis, whereas when the Ca2+ concentration is low (40 to 80 mM), the gels fold along their short axis. We hypothesize that the folding axis is dictated by the inhomogeneous nature of alginate-cation cross-linking, i.e., that the edges get cross-linked before the faces of the gel. At high Ca2+ concentration, the stiffer edges constrain the folding; in turn, the gel folds such that the longer edges are deformed less, which explains the folding along the long axis. At low Ca2+ concentration, the edges and the faces of the gel are more similar in their degree of cross-linking; therefore, the gel folds along its short axis. An analogy can be made to natural structures (such as leaves and seed pods) where stiff elements provide the directionality for folding.

Solvent triggered irreversible shape morphism of biopolymer films

We report the controlled reversible and irreversible folding behavior of a biopolymer film simply by tuning the solvent characteristics. Generally, solvent triggered folding of soft membranes or film is achieved by unfolding. Here, we show that this unfolding behavior can be suppressed/delayed or even completely eliminated by altering the intrinsic nature of the solvent. A reversible folding of biopolymer film is observed in response to water, whereas, an irreversible folding is observed in the presence of an aromatic alcohol (AA) solution of different molar concentrations. The folding and unfolding behavior originates from the coupled deformation-diffusion phenomena. Our study indicates that the presence of an AA influences the relaxation behavior of polymer chains, which in turn affects the release of stored strain energy during folding. Controlling the reversibility as well as the actuation time of the biopolymer film by tuning the solvent is explained in detail at the bulk scale by applying appropriate experimental techniques. The underlying mechanism for the observed phenomena is complemented by performing a simulation study for a single polymer chain at the molecular length scale. Due to the solvent-triggered hygromorphic response, biopolymer films exhibit huge potential as sensors, soft robots, drug delivery agents, morphing medical devices and in biomedical applications. We provide experimental evidence for the weight lifting capacity of permanently folded membranes, amounting to ∼200 times their own weight.

Shape-Changing Tubular Hydrogels

We describe the creation of hollow tubular hydrogels in which different zones along the length of the tube are composed of different gels. Our method to create these gels is adapted from a technique developed previously in our lab for creating solid hybrid hydrogels. The zones of our tubular gel are covalently bonded at the interfaces; as a result, these interfaces are highly robust. Consequently, the tube can be picked up, manipulated and stretched without suffering any damage. The hollow nature of these gels allows them to respond 2⁻30-fold faster to external stimuli compared to a solid gel of identical composition. We study the case where one zone of the hybrid tube is responsive to pH (due to the incorporation of an ionic monomer) while the other zones are not. Initially, the entire tube has the same diameter, but when pH is changed, the diameter of the pH-responsive zone alone increases (i.e., this zone bulges outward) while the other zones maintain their original diameter. The net result is a drastic change in the shape of the gel, and this can be reversed by reverting the pH to its original value. Similar localized changes in gel shape are shown for two other stimuli: temperature and solvent composition. Our study points the way for researchers to design three-dimensional soft objects that can reversibly change their shape in response to stimuli.

Controllable curvature from planar polymer sheets in response to light

The ability to change shape and control curvature in 3D structures starting from planar sheets can aid in assembly and add functionality to an object. Herein, we convert planar sheets of shape memory polymers (SMPs) into 3D objects with controllable curvature by dictating where the sheets shrink. Ink patterned on the surface of the sheet absorbs infrared (IR) light, resulting in localized heating, and the material shrinks locally wherever the temperature exceeds the activation temperature, T_a. We introduce two different mechanisms for controlling curvature within SMP sheets. The 'direct' mechanism uses localized shrinkage to induce curvature only in regions patterned with ink. The 'indirect' mechanism uses localized shrinkage in regions patterned with ink to induce curvature in neighboring regions without ink through a balance of internal stresses. Finite element analysis predicts the final shape of the polymer sheets with excellent qualitative agreement with experimental studies. Results from this study show that curvature can be controlled by the distribution and darkness of the ink pattern on the polymer sheet. Additionally, we utilize the direct and indirect curvature mechanisms to demonstrate the formation and actuation of gripper devices, which represent the potential utility of this approach.

Folding behavior and molecular mechanism of cross-linked biopolymer film in response to water

Water responsive biopolymers are gaining enormous attention in the different areas of research and applications related to self-folding. In this work, we report that cross-linking is an efficient means of modifying a single layer biopolymer film for a controlled and predictable pathway of folding. The initiation of the folding of a film is caused by the diffusion of water molecules along the film thickness. However, this folding is observed to take place in an unpredictable and random fashion with a pristine biopolymer film and a nano-particle reinforced film. The mechanical properties and the diffusion characteristics of the film are strongly interrelated and affect the overall folding behavior. The underlying mechanism behind this relation is appropriately substantiated by an in depth molecular dynamic study. The detailed characterization of the folding shape and material behavior is performed applying suitable experimental techniques. The potential application of the controlled folding of the cross-linked film as a sensor and as a soft crane is demonstrated in this report.