Soft Robotic Manipulation and Locomotion with a 3D Printed Electroactive Hydrogel

From lab to wearables: Innovations in multifunctional hydrogel chemistry for next-generation bioelectronic devices

Functional hydrogels have emerged as foundational materials in diagnostics, therapy, and wearable devices, owing to their high stretchability, flexibility, sensing, and outstanding biocompatibility. Their significance stems from their resemblance to biological tissue and their exceptional versatility in electrical, mechanical, and biofunctional engineering, positioning themselves as a bridge between living organisms and electronic systems, paving the way for the development of highly compatible, efficient, and stable interfaces. These multifaceted capability revolutionizes the essence of hydrogel-based wearable devices, distinguishing them from conventional biomedical devices in real-world practical applications. In this comprehensive review, we first discuss the fundamental chemistry of hydrogels, elucidating their distinct properties and functionalities. Subsequently, we examine the applications of these bioelectronics within the human body, unveiling their transformative potential in diagnostics, therapy, and human-machine interfaces (HMI) in real wearable bioelectronics. This exploration serves as a scientific compass for researchers navigating the interdisciplinary landscape of chemistry, materials science, and bioelectronics.

Hydrogels in Soft Robotics: Past, Present, and Future

The rise of soft robotics in recent years has motivated significant developments in smart materials (and vice versa), as these materials allow for more compact robotic designs thanks to the embodied intelligence that they provide. Hydrogels have long been postulated as one of the potential candidates to be used in soft robotics due to their softness, elasticity, and smart properties that can be tuned with nanomaterials. However, nowadays they represent only a small percentage of the materials used in the field. In this perspective, the drawbacks that have hindered their utilization so far are analyzed as well as the current state of hydrogel-based soft actuators, sensors, and manufacturing possibilities. The future improvements that need to be made to achieve a real application of hydrogels in soft robotics are also discussed.

Stimuli-responsive biomaterials: smart avenue toward 4D bioprinting

3D bioprinting is an advanced technology combining cells and bioactive molecules within a single bioscaffold; however, this scaffold cannot change, modify or grow in response to a dynamic implemented environment. Lately, a new era of smart polymers and hydrogels has emerged, which can add another dimension, e.g., time to 3D bioprinting, to address some of the current approaches' limitations. This concept is indicated as 4D bioprinting. This approach may assist in fabricating tissue-like structures with a configuration and function that mimic the natural tissue. These scaffolds can change and reform as the tissue are transformed with the potential of specific drug or biomolecules released for various biomedical applications, such as biosensing, wound healing, soft robotics, drug delivery, and tissue engineering, though 4D bioprinting is still in its early stages and more works are required to advance it. In this review article, the critical challenge in the field of 4D bioprinting and transformations from 3D bioprinting to 4D phases is reviewed. Also, the mechanistic aspects from the chemistry and material science point of view are discussed too.

Single/Multi-Network Conductive Hydrogels-A Review

Hydrogels made from conductive organic materials have gained significant interest in recent years due to their wide range of uses, such as electrical conductors, freezing resistors, biosensors, actuators, biomedical engineering materials, drug carrier, artificial organs, flexible electronics, battery solar cells, soft robotics, and self-healers. Nevertheless, the insufficient level of effectiveness in electroconductive hydrogels serves as a driving force for researchers to intensify their endeavors in this domain. This article provides a concise overview of the recent advancements in creating self-healing single- or multi-network (double or triple) conductive hydrogels (CHs) using a range of natural and synthetic polymers and monomers. We deliberated on the efficacy, benefits, and drawbacks of several conductive hydrogels. This paper emphasizes the use of natural polymers and innovative 3D printing CHs-based technology to create self-healing conductive gels for flexible electronics. In conclusion, advantages and disadvantages have been noted, and some potential opportunities for self-healing single- or multi-network hydrogels have been proposed.

Closed Twisted Hydrogel Ribbons with Self-Sustained Motions under Static Light Irradiation

Self-sustained motions are widespread in biological systems by harvesting energy from surrounding environments, which inspire scientists to develop autonomous soft robots. However, most-existing soft robots require dynamic heterogeneous stimuli or complex fabrication with different components. Recently, control of topological geometry has been promising to afford soft robots with physical intelligence and thus life-like motions. Reported here are a series of closed twisted ribbon robots, which exhibit self-sustained flipping and rotation under constant light irradiation. Both Möbius strip and Seifert ribbon robots are devised for the first time by using an identical hydrogel, which responds to light irradiation on either side. Experiment and simulation results indicate that the self-regulated motions of the hydrogel robots are related to fast and reversible response of muscle-like gel, self-shadowing effect, and topology-facilitated refresh of light-exposed regions. The motion speeds and directions of the hydrogel robots can be tuned over a wide range. These closed twisted ribbon hydrogels are further applied to execute specific tasks in aqueous environments, such as collecting plastic balls, climbing a vertical rod, and transporting objects. This work presents new design principle for autonomous hydrogel robots by benefiting from material response and topology geometry, which may be inspirative for the robotics community.

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.

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.

Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications

The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.

Three-Dimensional Printing Strategies for Enhanced Hydrogel Applications

This study explores the dynamic field of 3D-printed hydrogels, emphasizing advancements and challenges in customization, fabrication, and functionalization for applications in biomedical engineering, soft robotics, and tissue engineering. It delves into the significance of tailored biomedical scaffolds for tissue regeneration, the enhancement in bioinks for realistic tissue replication, and the development of bioinspired actuators. Additionally, this paper addresses fabrication issues in soft robotics, aiming to mimic biological structures through high-resolution, multimaterial printing. In tissue engineering, it highlights efforts to create environments conducive to cell migration and functional tissue development. This research also extends to drug delivery systems, focusing on controlled release and biocompatibility, and examines the integration of hydrogels with electronic components for bioelectronic applications. The interdisciplinary nature of these efforts highlights a commitment to overcoming material limitations and optimizing fabrication techniques to realize the full potential of 3D-printed hydrogels in improving health and well-being.

A fast hemostatic and enhanced photodynamic 2-dimensional metal-organic framework loaded aerogel patch for wound management

Achieving rapid hemostasis and highly effective antibacterial holds significant importance in the early-stage treatment of wounds. In this study, a hybrid aerogel patch comprising carbon quantum dots (CQDs) modified 2-dimensional (2D) porphyrinic metal-organic framework (MOF) nanosheets was designed by incorporating gelatin methacrylate (GelMA) and polyacrylamide (PAM) based matrix. On one hand, CQDs were stably doped onto the surface of the 2D MOF nanosheets, thereby enhancing the photodynamic activity through fluorescence resonance energy transfer (FRET) process. After the preparation of hybrid aerogel patch, the patch loaded with CQDs-doped 2D MOF exhibited excellent photodynamic bactericidal activity against Gram-positive Staphylococcus aureus (>99.99 %) and Gram-negative Escherichia coli (>99.99 %). On the other hand, the hybrid patch with highly porous and absorbent structure can rapidly absorb blood to aggregate clotting components and form a hydration barrier covering the wound to enhance hemostasis. Besides, the hemolysis and cytotoxicity assays demonstrated a good biocompatibility of this designed patch. In summary, this 2D MOF-loaded aerogel patch holds a potential to achieve rapid hemostasis and effective anti-infection in the early-stage treatment of traumatic wounds.

Programmable adhesion and morphing of protein hydrogels for underwater robots

Soft robots capable of efficiently implementing tasks in fluid-immersed environments hold great promise for diverse applications. However, it remains challenging to achieve robotization that relies on dynamic underwater adhesion and morphing capability. Here we propose the construction of such robots with designer protein materials. Firstly, a resilin-like protein is complexed with polyoxometalate anions to form hydrogels that can rapidly switch between soft adhesive and stiff non-adhesive states in aqueous environments in response to small temperature variation. To realize remote control over dynamic adhesion and morphing, Fe3O4 nanoparticles are then integrated into the hydrogels to form soft robots with photothermal and magnetic responsiveness. These robots are demonstrated to undertake complex tasks including repairing artificial blood vessel, capturing and delivering multiple cargoes in water under cooperative control of infrared light and magnetic field. These findings pave an avenue for the creation of protein-based underwater robots with on-demand functionalities.

Hydrogels for active photonics

Conventional photonic devices exhibit static optical properties that are design-dependent, including the material's refractive index and geometrical parameters. However, they still possess attractive optical responses for applications and are already exploited in devices across various fields. Hydrogel photonics has emerged as a promising solution in the field of active photonics by providing primarily deformable geometric parameters in response to external stimuli. Over the past few years, various studies have been undertaken to attain stimuli-responsive photonic devices with tunable optical properties. Herein, we focus on the recent advancements in hydrogel-based photonics and micro/nanofabrication techniques for hydrogels. In particular, fabrication techniques for hydrogel photonic devices are categorized into film growth, photolithography (PL), electron-beam lithography (EBL), and nanoimprint lithography (NIL). Furthermore, we provide insights into future directions and prospects for deformable hydrogel photonics, along with their potential practical applications.

Hygromachines: Humidity-Powered Wheels, Seesaws, and Vehicles

Hygroscopic soft actuators offer an attractive means to convert environmental energy to mechanical motions as they use water vapor, a ubiquitous substance in the atmosphere. To overcome the limits of existing hygroactuators, such as simplistic actuation mode, slow response, and low efficiency, here we present three kinds of humidity-powered soft machines adopting directionally electrospun hygroresponsive nanofibrous sheets. The wheels, seesaws, and vehicles developed in this work utilize spatial humidity gradient naturally established near moist surfaces such as human skin, so that they operate spontaneously, realizing energy scavenging or harvesting. We also constructed a theoretical framework to mechanically analyze their dynamics, which allowed us to optimize their design to obtain the highest motion speed physically possible.

Fabrication and Applications of Magnetic Polymer Composites for Soft Robotics

The emergence of magnetic polymer composites has had a transformative impact on the field of soft robotics. This overview will examine the various methods by which innovative materials can be synthesized and utilized. The advancement of soft robotic systems has been significantly enhanced by the utilization of magnetic polymer composites, which amalgamate the pliability of polymers with the reactivity of magnetic materials. This study extensively examines the production methodologies involved in dispersing magnetic particles within polymer matrices and controlling their spatial distribution. The objective is to gain insights into the strategies required to attain the desired mechanical and magnetic properties. Additionally, this study delves into the potential applications of these composites in the field of soft robotics, encompassing various devices such as soft actuators, grippers, and wearable gadgets. The study emphasizes the transformative capabilities of magnetic polymer composites, which offer a novel framework for the advancement of biocompatible, versatile soft robotic systems that utilize magnetic actuation.

The Role of 3D Printing Technologies in Soft Grippers

Soft grippers are essential for precise and gentle handling of delicate, fragile, and easy-to-break objects, such as glassware, electronic components, food items, and biological samples, without causing any damage or deformation. This is especially important in industries such as healthcare, manufacturing, agriculture, food handling, and biomedical, where accuracy, safety, and preservation of the objects being handled are critical. This article reviews the use of 3D printing technologies in soft grippers, including those made of functional materials, nonfunctional materials, and those with sensors. 3D printing processes that can be used to fabricate each class of soft grippers are discussed. Available 3D printing technologies that are often used in soft grippers are primarily extrusion-based printing (fused deposition modeling and direct ink writing), jet-based printing (polymer jet), and immersion printing (stereolithography and digital light processing). The materials selected for fabricating soft grippers include thermoplastic polymers, UV-curable polymers, polymer gels, soft conductive composites, and hydrogels. It is conclude that 3D printing technologies revolutionize the way soft grippers are being fabricated, expanding their application domains and reducing the difficulties in customization, fabrication, and production.

Shape Memory Alloy (SMA) Actuators: The Role of Material, Form, and Scaling Effects

Shape memory alloys (SMAs) are smart materials that are widely used to create intelligent devices because of their high energy density, actuation strain, and biocompatibility characteristics. Given their unique properties, SMAs are found to have significant potential for implementation in many emerging applications in mobile robots, robotic hands, wearable devices, aerospace/automotive components, and biomedical devices. Here, the state-of-the-art of thermal and magnetic SMA actuators in terms of their constituent materials, form, and scaling effects are summarized, including their surface treatments and functionalities. The motion performance of various SMA architectures (wires, springs, smart soft composites, and knitted/woven actuators) is also analyzed. Based on the assessment, current challenges of SMAs that need to be addressed for their practical application are emphasized. Finally, how to advance SMAs by synergistically considering the effects of material, form, and scale is suggested.

Fast-response photothermal bilayer actuator based on poly(N-isopropylacrylamide)-graphene oxide-hydroxyethyl methacrylate/polydimethylsiloxane

Demands for highly deformable and responsive intelligent actuators are increasing rapidly. Herein, a photothermal bilayer actuator consisting of a photothermal-responsive composite hydrogel layer and a polydimethylsiloxane (PDMS) layer is presented. The photothermal-responsive composite hydrogel is prepared by compositing hydroxyethyl methacrylate (HEMA) and the photothermal material graphene oxide (GO) with the thermal-responsive hydrogel poly(N-isopropylacrylamide) (PNIPAM). The HEMA improves the transport efficiency of water molecules inside the hydrogel network, eliciting a fast response and large deformation, facilitating greater bending behavior of the bilayer actuator, and improving the mechanical and tensile properties of the hydrogel. Moreover, GO enhances the mechanical properties and the photothermal conversion efficiency of the hydrogel in the thermal environment. This photothermal bilayer actuator can be driven under various conditions, such as hot solution, simulated sunlight, and laser, and can achieve large bending deformation with desirable tensile properties, broadening the application conditions for bilayer actuators, such as artificial muscles, bionic actuators, and soft robotics.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

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.

Study of Forming Performance and Characterization of DLP 3D Printed Parts

In order to explore the effect of printing parameter configurations on the forming performance of Digital Light Processing (DLP) 3D printed samples, printing experiments were carried out on the enhanced adhesion and efficient demolding of DLP 3D printing devices. The molding accuracy and mechanical properties of the printed samples with different thickness configurations were tested. The test results show that when the layer thickness increases from 0.02 mm to 0.22 mm, the dimensional accuracy in the X and Y directions increases first and then decreases, while the dimensional accuracy in the Z direction decreases, and the dimensional accuracy is the highest when the layer thickness is 0.1 mm. The mechanical properties of the samples decline with an increasing layer thickness of the samples. The mechanical properties of the 0.08 mm layer thickness are the best, and the tensile, bending, and impact properties are 22.86 Mpa, 48.4 Mpa, and 35.467 KJ/m², respectively. Under the condition of ensuring molding accuracy, the optimal layer thickness of the printing device is determined to be 0.1 mm. The analysis of the section morphology of samples with different thicknesses illustrates that the fracture of the sample is a river-like brittle fracture, and there are no defects such as pores in the section of samples.

Visualizing Drug Release from a Stimuli-Responsive Soft Material Based on Amine-Thiol Displacement

In this research, we developed a photoluminescent platform using amine-coupled fluorophores, generated from a single conjugate acceptor containing bis-vinylogous thioesters. Based on the experimental and computational results, the fluorescence turn-on mechanism was proposed to be charge separated induced energy radiative transition for the amine-coupled fluorophore, while the sulfur-containing precursor was not fluorescent since the energy internal conversion occurred through vibrational 2RS- (R represents alkyl groups) as energy acceptor(s). Further utilizing the conjugate acceptor, we establish a new fluorogenic approach via a highly cross-linked soft material to selectively detect cysteine under neutral aqueous conditions. Turn-on fluorescence emission and macroscopic degradation occurred in the presence of cysteine as the stimuli, which can be visually tracked due to the generation of an optical indicator and the cleavage of linkers within the matrix. Furthermore, a novel drug delivery system was constructed, achieving controlled release of sulfhydryl drug (6-mercaptopurine) which was tracked by photoluminescence and high-performance liquid chromatography. The photoluminescent molecules developed herein are suitable for visualizing polymeric degradation, making them suitable for additional "smart" material applications.

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.

Hydrogel-Based Flexible Electronics

Flexible electronics is an emerging field of research involving multiple disciplines, which include but not limited to physics, chemistry, materials science, electronic engineering, and biology. However, the broad applications of flexible electronics are still restricted due to several limitations, including high Young's modulus, poor biocompatibility, and poor responsiveness. Innovative materials aiming for overcoming these drawbacks and boost its practical application is highly desirable. Hydrogel is a class of 3D crosslinked hydrated polymer networks, and its exceptional material properties render it as a promising candidate for the next generation of flexible electronics. Here, the latest methods of synthesizing advanced functional hydrogels and the state-of-art applications of hydrogel-based flexible electronics in various fields are reviewed. More importantly, the correlation between properties of the hydrogel and device performance is discussed here, to have better understanding of the development of flexible electronics by using environmentally responsive hydrogels. Last, perspectives on the current challenges and future directions in the development of hydrogel-based multifunctional flexible electronics are provided.

Temperature-Modulated Changes in Thin Gel Layer Thickness Triggered by Electrochemical Stimuli

A series of thermoresponsive hydrogels containing positively charged groups in the polymeric network were synthesized and modified with the electroactive compound 2,2'-azino-bis(3-ethylbenzothiazoline-6-sulfonic acid) diammonium salt (ABTS). ABTS, which forms a dianion in aqueous solutions, acts as an additional physical cross-linker and strongly affects the swelling ratio of the gels. The influence of the amount of positively charged groups and ABTS oxidation state on the volume phase transition temperature was investigated. A hydrogel that possesses a relatively wide and well-defined temperature window (the temperature range where changes in the ABTS oxidation state affects the swelling ratio significantly) was found. The influence of the presence and oxidation state of ABTS on mechanical properties was investigated using a tensile machine and a rheometer. Then, a very thin layer of the gel was deposited on an Au electrochemical quartz crystal microbalance with dissipation (EQCM-D) electrode using the electrochemically induced free radical polymerization method. Next, chronoamperometry combined with quartz crystal microbalance measurements, obtained with an Au EQCM-D electrode modified by the gel, showed that the size of the thin layer could be controlled by an electrochemical trigger. Furthermore, it was found that the electrosensitivity could be modulated by the temperature. Such properties are desired from the point of view construction of electrochemical actuators.

A Biomimetic Bilayer Hydrogel Actuator Based on Thermoresponsive Gelatin Methacryloyl-Poly(N-isopropylacrylamide) Hydrogel with Three-Dimensional Printability

Development of hydrogel-based actuators with programmable deformation is an important topic that arouses much attention in fundamental and applied research. Most of these actuators are nonbiodegradable or work under nonphysiological conditions. Herein, a temperature-responsive and biodegradable gelatin methacryloyl (GelMA)-poly(N-isopropylacrylamide) hydrogel (i.e., GN hydrogel) network was explored as the active layer of a bilayer actuator. Small-angle X-ray scattering (SAXS) revealed that the GN hydrogel formed a mesoglobular structure (∼230 Å) upon a thermally induced phase transition. Rheological data supported that the GN hydrogel possessed 3D printability and tunable mechanical properties. A bilayer hydrogel actuator composed of active GN and passive GelMA layers was optimized by varying the layer thickness and compositions to achieve large, reproducible, and anisotropic bending with a curvature of ∼5.5 cm^-1. Different patterns of the active layer were designed for actuation in programmable control. The 3D printed GN hydrogel constructs showed significant volume reduction (∼25-60% depending on construct design) at 37 °C with the resolution enhanced by the thermo-triggered actuation, while they were able to fully reswell at room temperature. A more intricate 3D printed butterfly actuator demonstrated the ability to mimic the wing movement through thermoresponsiveness. Furthermore, myoblasts laden in the GN hydrogel exhibited significant proliferation of ∼376% in 14 days. This study provides a new fabrication approach for developing biomimetic devices, artificial muscles, and soft robotics for biomedical applications.

A strong and tough gelatin/polyvinyl alcohol double network hydrogel actuator with superior actuation strength and fast actuation speed

Hydrogels are widely used in actuators that are applied in numerous fields such as multifunctional sensors, soft robots, artificial muscles, manipulators and microfluidic valves, and yet their applications in soft robots and artificial muscles are often limited by low actuation strength and slow actuation speed. Here, we develop a hydrogel actuator with high actuation strength (contraction strength of 850 kPa), fast actuation speed (response time of 90 s) and high energy density (output working density of 72 kJ m^-3) by introducing a storing-releasing elastic potential energy method into a double network hydrogel. The high actuation strength is owing to the double network hydrogel, which possesses a high elastic modulus of 1.3 MPa, fracture strength of 1.8 MPa, and fracture energy of 16 kJ m^-2. The fast actuation speed is due to the storing-releasing elastic potential energy method, which stretches the hydrogel and locks the hydrogel at deformed shape under external stimuli to store the elastic potential energy and then makes the hydrogel contract rapidly under new stimuli to release the pre-stored energy. A capture actuator and a hand muscle actuator are fabricated to achieve strong and fast actuation. The hydrogel actuator has shown potential applications in soft robots and artificial muscles.

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.

Effect of Electrode Morphology on Performance of Ionic Actuators Based on Vat Photopolymerized Membranes

Bucky gel electrodes are composed of morphology-determining polyvinylidene difluoride (PVDF) filled with carbon nanotubes (CNT). The electrodes are commonly fabricated via the casting of a CNT dispersion containing PVDF and ionic liquid. In this study, several pore-forming additives such as polyethylene glycol (PEG), dibutyl phthalate (DBP), and the common ionic liquid BMIMBF4 were used to control the morphology of the bucky gel electrodes. The crystalline phase type and content of PVDF in the electrodes were determined by FT-IR and DSC, respectively. SEM revealed a sponge-like structure in the case of the use of BMIMBF4 and a spherulite structure if PEG and DBP were used as additives. A strong influence of morphology on the anisotropic increase in the volume of electrodes upon impregnation with electrolyte was observed. The PEG-based electrode elongated more than the others, while the BMIMBF4-based electrode thickened to a greater extent. Ionic actuators were fabricated to experimentally reveal the effect of electrode morphology on their electromechanical efficiency. A high-precision vat photopolymerization technique was used to fabricate identical ionic membranes and minimize their influence on the properties of the actuators. The electrodes were characterized by the same porosity and electrical capacitance, while the actuators differ significantly in performance. As a result, a simple method of using pore-forming additives made it possible to increase the maximum deformation of bucky gel ionic actuators by 1.5 times by changing the morphology of the electrodes.

Advances in Biodegradable Soft Robots

Biodegradable soft robots have been proposed for a variety of intelligent applications in soft robotics, flexible electronics, and bionics. Biodegradability offers an extraordinary functional advantage to soft robots for operations accompanying smart shape transformation in response to external stimuli such as heat, pH, and light. This review primarily surveyed the current advanced scientific and engineering strategies for integrating biodegradable materials within stimuli-responsive soft robots. It also focused on the fabrication methodologies of multiscale biodegradable soft robots, and highlighted the role of biodegradable soft robots in enhancing the multifunctional properties of drug delivery capsules, biopsy tools, smart actuators, and sensors. Lastly, the current challenges and perspectives on the future development of intelligent soft robots for operation in real environments were discussed.

High-performance electrified hydrogel actuators based on wrinkled nanomembrane electrodes for untethered insect-scale soft aquabots

Hydrogels have diverse chemical properties and can exhibit reversibly large mechanical deformations in response to external stimuli; these characteristics suggest that hydrogels are promising materials for soft robots. However, reported actuators based on hydrogels generally suffer from slow response speed and/or poor controllability due to intrinsic material limitations and electrode fabrication technologies. Here, we report a hydrogel actuator that operates at low voltages (<3 volts) with high performance (strain > 50%, energy density > 7 × 10 5 joules per cubic meter, and power density > 3 × 10 4 watts per cubic meter), surpassing existing hydrogel actuators and other types of electroactive soft actuators. The enhanced performance of our actuator is due to the formation of wrinkled nanomembrane electrodes that exhibit high conductivity and excellent mechanical deformation through capillary-assisted assembly of metal nanoparticles and deswelling-induced wrinkled structures. By applying an electric potential through the wrinkled nanomembrane electrodes that sandwich the hydrogel, we were able to trigger a reversible and substantial electroosmotic water flow inside a hydrogel film, which drove the controlled swelling of the hydrogel. The high energy efficiency and power density of our wrinkled nanomembrane electrode–induced actuator enabled the fabrication of an untethered insect-scale aquabot integrated with an on-board control unit demonstrating maneuverability with fast locomotion speed (1.02 body length per second), which occupies only 2% of the total mass of the robot.

A Hydrogel-Based Self-Sensing Underwater Actuator

Soft robots made of hydrogels are suited for underwater exploration due to their biocompatibility and compliancy. Yet, reaching high dexterity and actuation force for hydrogel-based actuators is challenging. Meanwhile, real-time proprioception is critical for feedback control. Moreover, sensor integration to mimic living organisms remains problematic. To address these challenges, we introduce a hydrogel actuator driven by hydraulic force with a fast response (time constant 0.83 s). The highly stretchable and conductive hydrogel (1400% strain) is molded into the PneuNet shape, and two of them are further assembled symmetrically to actuate bi-directionally. Then, we demonstrate its bionic application for underwater swimming, showing 2 cm/s (0.19 BL/s) speed. Inspired by biological neuromuscular systems' sensory motion, which unifies the sensing and actuation in a single unit, we explore the hydrogel actuator's self-sensing capacity utilizing strain-induced resistance change. The results show that the soft actuator's proprioception can monitor the undulation in real-time with a sensitivity of 0.2%/degree. Furthermore, we take a finite-element method and first-order differential equations to model the actuator's bending in response to pressure. We show that such a model can precisely predict the robot's bending response over a range of pressures. With the self-sensing actuator and the proposed model, we expect the new approach can lead to future soft robots for underwater exploration with feedback control, and the underlying mechanism of the undulation control might offer significant insights for biomimetic research.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.

Transient shape morphing of active gel plates: geometry and physics

The control of shape in active structures is a key problem for the realization of smart sensors and actuators, which often draw inspiration from natural systems. In this context, slender structures, such as thin plates, have been studied as a relevant example of shape morphing systems where curvature is generated by in-plane incompatibilities. In particular, in hydrogel plates these incompatibilities can be programmed at fabrication time, such that a target configuration is attained at equilibrium upon swelling or shrinking. While these aspects have been examined in detail, understanding the transient morphing of such active structures deserves further investigation. In this study, we develop a geometrical model for the transient shaping of thin hydrogel plates by extending the theory of non-Euclidean plates. We validate the proposed model using experiments on gel samples that are programmed to reach axisymmetric equilibrium shapes. Interestingly, our experiments show the emergence of non-axisymmetric shapes for early times, as a consequence of boundary layer effects induced by solvent transport. We rationalize these observations using numerical simulations based on a detailed poroelastic model. Overall, this work highlights the limitations of purely geometrical models and the importance of transient, reduced theories for morphing plates that account for the coupled physics driving the evolution of shape. Computational approaches employing these theories will allow to achieve accurate control on the morphing dynamics and ultimately advance 4D printing technologies.

Recent advances in multi-mechanism design of crack-resistant hydrogels

For conventional hydrogels, the phenomenon of crack generation and propagation caused by high-stress concentration is ubiquitous. However, this phenomenon is unfavorable in many applications, such as wearable electronics, tissue engineering, and tunable adhesion. Fortunately, many hydrogels that can suppress crack growth during deformation and maintain the original mechanical properties during deformation, called crack-resistant hydrogels, have been published. Herein, the state-of-the-art of crack-resistant hydrogels is comprehensively reviewed. Starting from the principle of designing a crack-resistant hydrogel, we first survey the relevant crack-resistant strategies. The latest crack-resistant hydrogels are then categorized according to their crack-resistant mechanisms (including energy dissipation at the molecular level, multiscale structure, crack pinning, crack deflection, and sliding of chain), and their crack-resistant processes are described in detail. Furthermore, we summarize the current challenges and make an outlook for crack-resistant hydrogels, which might lead to substantial progress in the future design and development of these high-performance materials.

Electroactive Polymer-Based Composites for Artificial Muscle-like Actuators: A Review

Unlike traditional actuators, such as piezoelectric ceramic or metallic actuators, polymer actuators are currently attracting more interest in biomedicine due to their unique properties, such as light weight, easy processing, biodegradability, fast response, large active strains, and good mechanical properties. They can be actuated under external stimuli, such as chemical (pH changes), electric, humidity, light, temperature, and magnetic field. Electroactive polymers (EAPs), called ‘artificial muscles’, can be activated by an electric stimulus, and fixed into a temporary shape. Restoring their permanent shape after the release of an electrical field, electroactive polymer is considered the most attractive actuator type because of its high suitability for prosthetics and soft robotics applications. However, robust control, modeling non-linear behavior, and scalable fabrication are considered the most critical challenges for applying the soft robotic systems in real conditions. Researchers from around the world investigate the scientific and engineering foundations of polymer actuators, especially the principles of their work, for the purpose of a better control of their capability and durability. The activation method of actuators and the realization of required mechanical properties are the main restrictions on using actuators in real applications. The latest highlights, operating principles, perspectives, and challenges of electroactive materials (EAPs) such as dielectric EAPs, ferroelectric polymers, electrostrictive graft elastomers, liquid crystal elastomers, ionic gels, and ionic polymer–metal composites are reviewed in this article.

Fluid-driven Hydrogel Actuators with an Origami Structure

Owing to the innate good biocompatibility, tissue-like softness and other unique properties, hydrogels are of particular interest as promising compliant materials for biomimetic soft actuators. However, the actuation diversity of hydrogel actuators is always restricted by their structure design and fabrication methods. Herein, origami structures were introduced to the design of fluid-driven hydrogel actuators to achieve diverse actuation movements, and a facile fabrication strategy based on removable templates and inside-out diffusion-induced in situ hydrogel crosslinking was adopted. As a result, three types of modular cuboid actuator units (CAUs) achieved linear motion, bending, and twisting. Moreover, combinations of multiple CAUs achieved different actuation modes, including actuation decoupling, superposition, and reprogramming. The diverse actuation functionality would enable new possibilities in application fields for hydrogel soft actuators. Several simple application demos, such as grippers for grasping tasks and a multi-way circuit switch, demonstrated their potential for further applications.

•

Origami structures were introduced to fluid-driven hydrogel actuators

•

Three types of cuboid actuator units (CAUs) achieved linear motion, bending, and twisting

•

A fabrication strategy was based on removable templates and in situ formation

•

Combinations of multiple CAUs achieved different actuation modes

Application and Prospects of Hydrogel Additive Manufacturing

Hydrogel has become a commonly used material for 3D and 4D printing due to its favorable biocompatibility and low cost. Additive manufacturing, also known as 3D printing, was originally referred to as rapid prototyping manufacturing. Variable-feature rapid prototyping technology, also known as 4D printing, is a combination of materials, mathematics, and additives. This study constitutes a literature review to address hydrogel-based additive manufacturing technologies, introducing the characteristics of commonly used 3D printing hydrogel methods, such as direct ink writing, fused deposition modeling, and stereolithography. With this review, we also investigated the stimulus types, as well as the advantages and disadvantages of various stimulus-responsive hydrogels in smart hydrogels; non-responsive hydrogels; and various applications of additive manufacturing hydrogels, such as neural catheter preparation and drug delivery. The opportunities, challenges, and future prospects of hydrogel additive manufacturing technologies are discussed.

Advances in Digital Light Processing of Hydrogels

Hydrogels, three-dimensional (3D) networks of hydrophilic polymers formed in water, are a significant type of soft matter used in fundamental and applied sciences. Hydrogels are of particular interest for biomedical applications, owing to their soft elasticity and good biocompatibility. However, the high water content and soft nature of hydrogels often make it difficult to process them into desirable solid forms. The development of 3D printing (3DP) technologies has provided opportunities for the manufacturing of hydrogels, by adopting a freeform fabrication method. Owing to its high printing speed and resolution, vat photopolymerization 3DP has recently attracted considerable interest for hydrogel fabrication, with digital light processing (DLP) becoming a widespread representative technique. Whilst acknowledging that other types of vat photopolymerization 3DP have also been applied for this purpose, we here only focus on DLP and its derivatives. In this review, we first comprehensively outline the most recent advances in both materials and fabrication, including the adaptation of novel hydrogel systems and advances in processing (e.g., volumetric printing and multimaterial integration). Secondly, we summarize the applications of hydrogel DLP, including regenerative medicine, functional microdevices, and soft robotics. To the best of our knowledge, this is the first time that either of these specific review focuses has been adopted in the literature. More importantly, we discuss the major challenges associated with hydrogel DLP and provide our perspectives on future trends. To summarize, this review aims to aid and inspire other researchers investigatng DLP, photocurable hydrogels, and the research fields related to them.

Combining printing and nanoparticle assembly: Methodology and application of nanoparticle patterning

Functional nanoparticles (NPs) with unique photoelectric, mechanical, magnetic, and chemical properties have attracted considerable attention. Aggregated NPs rather than individual NPs are generally required for sensing, electronics, and catalysis. However, the transformation of functional NP aggregates into scalable, controllable, and affordable functional devices remains challenging. Printing is a promising additive manufacturing technology for fabricating devices from NP building blocks because of its capabilities for rapid prototyping and versatile multifunctional manufacturing. This paper reviews recent advances in NP patterning based on the combination of self-assembly and printing technologies (including two-, three-, and four-dimensional printing), introduces the basic characteristics of these methods, and discusses various fields of NP patterning applications.

•

Nanoparticles (NPs) printing assembly is a good solution for patterned devices

•

NPs assembly can be combined with 2D, 3D, and 4D printing technologies

•

A variety of ink-dispersed NPs are available for printing assembly

•

NPs printing assembly technology is applied for nanosensing, energy storage, photodetector

Material Design for Enhancing Properties of 3D Printed Polymer Composites for Target Applications

Polymer composites are becoming an important class of materials for a diversified range of industrial applications due to their unique characteristics and natural and synthetic reinforcements. Traditional methods of polymer composite fabrication require machining, manual labor, and increased costs. Therefore, 3D printing technologies have come to the forefront of scientific, industrial, and public attention for customized manufacturing of composite parts having a high degree of control over design, processing parameters, and time. However, poor interfacial adhesion between 3D printed layers can lead to material failure, and therefore, researchers are trying to improve material functionality and extend material lifetime with the addition of reinforcements and self-healing capability. This review provides insights on different materials used for 3D printing of polymer composites to enhance mechanical properties and improve service life of polymer materials. Moreover, 3D printing of flexible energy-storage devices (FESD), including batteries, supercapacitors, and soft robotics using soft materials (polymers), is discussed as well as the application of 3D printing as a platform for bioengineering and earth science applications by using a variety of polymer materials, all of which have great potential for improving future conditions for humanity and planet Earth.

A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments

Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.

Supramolecular Assembly of Shape Memory and Actuating Hydrogels for Programmable Shape Transformation

The deformable diversity of organisms in nature has inspired the development of bionic hydrogel actuators. However, the anisotropic structures of hydrogel actuators cannot be altered after the fabrication process, which restricts hydrogel actuators to provide complex and diverse shape deformations. Herein, we propose a dual programming method to generate numerous anisotropic structures from initial isotropic gelatin-containing hydrogels; the isotropic hydrogel blocks could be first assembled into anisotropic structures based on the coil-triple helix transition of gelatin, and then, the assembled hydrogels could further be fixed into various temporary anisotropies, so that they can produce complex and diverse deformations under the stimulation of pH. In addition, the shape programming and deformation behaviors are reversible. This dual programming method provides more potential for the application of hydrogel actuators in soft robots and bionics.

Manipulation of free-floating objects using Faraday flows and deep reinforcement learning

The ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. Current studies on this problem have been limited to uni-directional motion control due to the challenging nature of the control problem. Analytical modelling of the object dynamics is difficult due to the high-dimensionality and mixing of the surface flows while the control problem is hard due to the nonlinear slow dynamics of the fluid medium, underactuation, and chaotic regions. This study presents a methodology for manipulation of free-floating objects using large-scale physical experimentation and recent advances in deep reinforcement learning. We demonstrate our methodology through the open-loop control of a free-floating object in water using a robotic arm. Our learned control policy is relatively quick to obtain, highly data efficient, and easily scalable to a higher-dimensional parameter space and/or experimental scenarios. Our results show the potential of data-driven approaches for solving and analyzing highly complex nonlinear control problems.

The Dynamic Mortise-and-Tenon Interlock Assists Hydrated Soft Robots Toward Off-Road Locomotion

Natural locomotion such as walking, crawling, and swimming relies on spatially controlled deformation of soft tissues, which could allow efficient interaction with the external environment. As one of the ideal candidates for biomimetic materials, hydrogels can exhibit versatile bionic morphings. However, it remains an enormous challenge to transfer these in situ deformations to locomotion, particularly above complex terrains. Herein, inspired by the crawling mode of inchworms, an isotropic hydrogel with thermoresponsiveness could evolve to an anisotropic hydrogel actuator via interfacial diffusion polymerization, further evolving to multisection structure and exhibiting adaptive deformation with diverse degrees of freedom. Therefore, a dynamic mortise-and-tenon interlock could be generated through the interaction between the self-deformation of the hydrogel actuator and rough terrains, inducing continual multidimensional locomotion on various artificial rough substrates and natural sandy terrain. Interestingly, benefiting from the powerful mechanical energy transfer capability, the crawlable hydrogel actuators could also be utilized as hydrogel motors to activate static cargos to overstep complex terrains, which exhibit the potential application of a biomimetic mechanical discoloration device. Therefore, we believe that this design principle and control strategy may be of potential interest to the field of deformable materials, soft robots, and biomimetic devices.

4D biofabrication via instantly generated graded hydrogel scaffolds

Formation of graded biomaterials to render shape-morphing scaffolds for 4D biofabrication holds great promise in fabrication of complex structures and the recapitulation of critical dynamics for tissue/organ regeneration. Here we describe a facile generation of an adjustable and robust gradient using a single- or multi-material one-step fabrication strategy for 4D biofabrication. By simply photocrosslinking a mixed solution of a photocrosslinkable polymer macromer, photoinitiator (PI), UV absorber and live cells, a cell-laden gradient hydrogel with pre-programmable deformation can be generated. Gradient formation was demonstrated in various polymers including poly(ethylene glycol) (PEG), alginate, and gelatin derivatives using various UV absorbers that present overlap in UV spectrum with that of the PI UV absorbance spectrum. Moreover, this simple and effective method was used as a universal platform to integrate with other hydrogel-engineering techniques such as photomask-aided microfabrication, photo-patterning, ion-transfer printing, and 3D bioprinting to fabricate more advanced cell-laden scaffold structures. Lastly, proof-of-concept 4D tissue engineering was demonstrated in a study of 4D bone-like tissue formation. The strategy's simplicity along with its versatility paves a new way in solving the hurdle of achieving temporal shape changes in cell-laden single-component hydrogel scaffolds and may expedite the development of 4D biofabricated constructs for biological applications.