Controllable and Stable Deformation of a Self-Healing Photo-Responsive Supramolecular Assembly for an Optically Actuated Manipulator Arm

The Use of Photocycloaddition Reactions to Drive Mechanical Motions Resembling Humanoid Movements

With the aim of producing a photomechanical material for incorporation in soft microrobots, a one-dimensional diene coordination polymer (CP) [Cd(F-bpeb)(3-CBA)2]n (CP1, F-bpeb=4,4'-((1E,1'E)-(2,5-difluoro-1,4-phenylene)bis(ethene-2,1-diyl))dipyridine, 3-HCBA=3-chlorobenzoic acid) was synthesized and characterized. Irradiation of CP1 with ultraviolet (UV) or visible light causes [2+2] photocycloaddition reactions resulting in the introduction of crystal strain which triggers various types of crystal movements. Composite films of CP1-PVA (SC) fabricated by dispersing CP1 crystals into polyvinyl alcohol (PVA) solution allow amplification of the crystal movement so that the film strips exhibit fast and flexible curling upon photoirradiation. The composite films may be cut into long rectangular strips and folded to simulate soft microrobots which exhibit a variety of fast, flexible and continuous photomechanical movements resembling a human performing various gymnastic exercises.

Exploration of molecular machines in supramolecular soft robotic systems

Soft robotic system, a new era of material science, is rapidly developing with advanced processing technology in soft matters, featured with biomimetic nature. An important bottom-up approach is through the implementation of molecular machines into polymeric materials, however, the synchronized molecular motions, acumination of strain across multiple length-scales, and amplification into macroscopic actuations remained highly challenging. This review presents the significances, key design strategies, and outlook of the hierarchical supramolecular systems of molecular machines to develop novel types of supramolecular-based soft robotic systems.

Photoswitchable and Solvent-Controlled Directional Actuators: Supramolecular Assembly and Crosslinked Polymers

Untethered small actuators have drawn tremendous interest owing to their reversibility, flexibility, and widespread applications in various fields. For polymer actuators, however, it is still challenging to achieve programmable structural changes under different stimuli caused by the intractability and single-stimulus responses of most polymer materials. Herein, multi-stimuli-responsive polymer actuators that can respond to light and solvent via structural changes are developed. The actuators are based on bilayer films of polydimethylsiloxane (PDMS) and azobenzene chromophore (AAZO)-crosslinked poly(diallyldimethylammonium chloride) (PDAC). Upon UV light irradiation, the AAZO undergoes trans-cis-trans photoisomerization, causing the bending of the bilayer films. When the UV light is off, a shape recovery toward an opposite direction occurs spontaneously. The reversible deformation can be repeated at least 20 cycles. Upon solvent vapor annealing, one of the bilayer films can be selectively swollen, causing the bending of the bilayer films with the directions controlled by the solvent vapors. The effects of different parameters, such as the weight ratios of AAZO and film thicknesses, on the bending angles and curvatures of the polymer films are also analyzed. The results demonstrate that multi-stimuli-responsive actuators with fast responses and high reproducibility can be fulfilled.

Self-Healing Polymeric Soft Actuators

Natural evolution has provided multicellular organisms with sophisticated functionalities and repair mechanisms for surviving and preserve their functions after an injury and/or infection. In this context, biological systems have inspired material scientists over decades to design and fabricate both self-healing polymeric materials and soft actuators with remarkable performance. The latter are capable of modifying their shape in response to environmental changes, such as temperature, pH, light, electrical/magnetic field, chemical additives, etc. In this review, we focus on the fusion of both types of materials, affording new systems with the potential to revolutionize almost every aspect of our modern life, from healthcare to environmental remediation and energy. The integration of stimuli-triggered self-healing properties into polymeric soft actuators endow environmental friendliness, cost-saving, enhanced safety, and lifespan of functional materials. We discuss the details of the most remarkable examples of self-healing soft actuators that display a macroscopic movement under specific stimuli. The discussion includes key experimental data, potential limitations, and mechanistic insights. Finally, we include a general table providing at first glance information about the nature of the external stimuli, conditions for self-healing and actuation, key information about the driving forces behind both phenomena, and the most important features of the achieved movement.

Ultrahigh Mechanical Strength and Robust Room-Temperature Self-Healing Properties of a Polyurethane-Graphene Oxide Network Resulting from Multiple Dynamic Bonds

Addressing the conflict between achieving high mechanical properties and room-temperature self-healing ability is extremely significant to achieving a breakthrough in the application of self-healing materials. Therefore, inspired by natural spider silk and nacre, a room-temperature self-healing supramolecular material with ultrahigh strength and toughness is developed by synergistically incorporating flexible disulfide bonds and dynamic sextuple hydrogen bonds (H-bonds) into polyurethanes (PUs). Simultaneously, abundant H-bonds are introduced at the interface between graphene oxide nanosheets with dynamic multiple H-bonds and the PU matrix to afford strong interfacial interactions. The resulting urea-containing PU material with an inverse artificial nacre structure has a record mechanical strength (78.3 MPa) and toughness (505.7 MJ m^-3), superior tensile properties (1273.2% elongation at break), and rapid room-temperature self-healing abilities (88.6% at 25 °C for 24 h), forming the strongest room-temperature self-healing elastomer reported to date and thus upending the previous understanding of traditional self-healing materials. In addition, this bionic PU-graphene oxide network endows the fabricated flexible intelligent robot with functional repair and shape memory capabilities, thus providing prospects for the fabrication of flexible functional devices.

Multiple Responsiveness of Polymer Actuators

To improve photosensitivity of polymer materials, an effective protocol is to increase the content of photosensitive moieties. However, most of photosensitive units are toxic. The high content is not acceptable for real-world applications. Therefore, achievement of photosensitive polymers with low content of photosensitive moieties but maintaining their photosensitivity remains a challenge. We herein report a protocol to address this challenge by combination of photosensitive monomers with hygroscopic monomers, where the synergistic action of two types of functional moieties can improve the photosensitivity of polymer network. Upon exposure to light irradiation, the polymer can be driven by not only the structural isomerization of photosensitive units but also the photothermal effects. This synergistic effect results in the polymer-based soft actuators capable of showing rapid response to light even at the extremely-low content of photosensitive moieties of 2.6 mol%. Importantly, the combination of hygroscopic and photosensitive moieties provides polymer with multiple responsiveness including acidochromism, humidity responsiveness, photo-hardening, shape memory, photochromism and in-situ swelling, making it useful in sensing systems, information transmission and artificial muscles. This article is protected by copyright. All rights reserved.

Thermo-Induced Single-Crystal-to-Single-Crystal Transformations and Photo-Induced [2+2] Cycloaddition Reactions in Polymorphs of Chalcone-Based Molecular Crystals: Multi-Stimuli Responsive Actuators

The polymorphs of 2ClChMe-4 in Form I (ribbon-like crystal) and Form II (block-like crystal) were prepared, and they exhibited curling/flipping and expansion upon heating on account of single-crystal-to-single-crystal transformations. The irreversible phase transformations occurred separately at 53.2 °C and 57.8 °C for the crystals in Form I and Form II, during which the molecular conformation of 2ClChMe-4 changed and the molecules slipped along the (100) plane. Movement at the molecular level resulted in changes of cell parameters, which in turn led to macroscopic motions of the crystals upon heating. Additionally, the ribbon-like crystals of 2ClChMe-4 showed photo-induced bending driven by [2+2] cycloaddition. Accordingly, an actuator showing reversible bending behavior was fabricated triggered by light and heat successively. Like biomimetic self-actuators, such multi-stimuli mechanical responsive molecular crystals might have potential applications in soft robots, artificial muscles and microfluidic systems.

Construction of Enhanced Photostability Anthraquinone-Type Nanovesicles Based on a Novel Two-Step Supramolecular Assembly Strategy and Their Application on Multiband Laser-Responsive Composites

The photostability and dispersity under aggregation states always become an obstacle for the development of small-molecular organic dye (SMOD) composites. Herein, a novel supramolecular assembly strategy with a two-step assembly method is implemented to encapsulate SMODs for improving their photostability and acquiring uniformly dispersed nanoaggregates in aqueous solution. By the novel assembly strategy, photodegradation rates of the anthraquinone-type dyes can decrease significantly, and the stability of dispersed nanoassembly bodies can be improved in solution. Based on the two-step supramolecular assembly strategy, a new kind of aqueous processing composite system can be developed for preparing multiband laser-responsive devices and in situ healing of optical composite films. This two-step supramolecular assembly strategy can provide a new template and reference for improving the defects of SMODs and fabricating high-performance optical devices.

Reprocessable Photodeformable Azobenzene Polymers

Photodeformable azobenzene (azo) polymers are a class of smart polymers that can efficiently convert light energy into mechanical power, holding great promise in various photoactuating applications. They are typically of crosslinked polymer networks with highly oriented azo mesogens embedded inside. Upon exposure to the light of appropriate wavelength, they experience dramatic order parameter change following the configuration change of the azo units. This could result in the generation and accumulation of the gradient microscopic photomechanical force in the crosslinked polymer networks, thus leading to their macroscopic deformation. So far, a great number of photodeformable azo polymers have been developed, including some unoriented ones showing photodeformation based on different mechanisms. Among them, photodeformable azo polymers with dynamic crosslinking networks (and some uncrosslinked ones) have aroused particular interest recently because of their obvious advantages over those with stable chemical crosslinking structures such as high recyclability and reprocessability. In this paper, I provide a detailed overview of the recent progress in such reprocessable photodeformable polymers. In addition, some challenges and perspectives are also presented.

Ultrarobust, tough and highly stretchable self-healing materials based on cartilage-inspired noncovalent assembly nanostructure

Self-healing materials integrated with excellent mechanical strength and simultaneously high healing efficiency would be of great use in many fields, however their fabrication has been proven extremely challenging. Here, inspired by biological cartilage, we present an ultrarobust self-healing material by incorporating high density noncovalent bonds at the interfaces between the dentritic tannic acid-modified tungsten disulfide nanosheets and polyurethane matrix to collectively produce a strong interfacial interaction. The resultant nanocomposite material with interwoven network shows excellent tensile strength (52.3 MPa), high toughness (282.7 MJ m^‒3, which is 1.6 times higher than spider silk and 9.4 times higher than metallic aluminum), high stretchability (1020.8%) and excellent healing efficiency (80-100%), which overturns the previous understanding of traditional noncovalent bonding self-healing materials where high mechanical robustness and healing ability are mutually exclusive. Moreover, the interfacical supramolecular crosslinking structure enables the functional-healing ability of the resultant flexible smart actuation devices. This work opens an avenue toward the development of ultrarobust self-healing materials for various flexible functional devices.

Self-Healing and Reconfigurable Actuators Based on Synergistically Cross-Linked Supramolecular Elastomer

Stimulus-responsive soft actuators show great potential in intelligent robot systems for their various virtues, such as arbitrary shape morphing, outstanding adaptability to environment, and multidegrees of freedom. However, it is extremely challenging to achieve a combination of excellent actuating performance and robust mechanical strength as well as self-healing property. Herein we report a near-infrared light-responsive soft actuator based on the synergistic effects of a crystalline physical cross-linked network and a hydrogen bonding supramolecular network. The actuator exhibits outstanding comprehensive performance including fast and reliable light-responsive behavior (bending angle over 90° within 1.6 s), robust mechanical strength (12.52 MPa), superfast self-healing speed (2 s), and satisfactory self-healing efficiency in both mechanical (87.68%) and actuating (99.50%) performance. In addition, it is convenient to fabricate and reconfigure the actuators by a mild-temperature molding strategy to acquire various three-dimensional structures, thus achieving diverse actuating locomotion. This work provides a powerful and facile strategy to prepare soft actuators with intriguing performance, allowing significant progress in broadening their practical application.

Reversible Ion-Conducting Switch by Azobenzene Molecule with Light-Controlled Sol-Gel Transitions of the PNIPAm Ion Gel

Exploring a simple, on-demanding method of manipulating ionic conduction of ionic liquids with large amplitudes is a challenging task. Here, a reversible ion-conducting switch was obtained based on photoswitchable sol-gel transitions. The device was successfully applied in an electronic circuit to switch it on/off. The ion gel was prepared by directly mixing following individual components: azobenzene (Azo), poly(N-isopropylacrylamide) (PNIPAm), and 1-ethyl-3-methylimidazolium bis(trifluoromethylsulfonyl)imide ([C₂mim][NTf₂]). The mixture is denoted as Azo/PNIPAm/[C₂mim][NTf₂]. The framework of this gel structure was particularly designed as an analogue to the physical mode of control theory: sensor/amplification/action. Light-induced isomerization of Azo acts as the light sensor to trigger the macroscopic sol-gel transition of PNIPAm assemblies. Such transition works as the amplification, which significantly affects the ionic movements, resulting in high-amplitude switching behavior. A photoswitchable ionic conductive device was demonstrated as action in this paper. Under UV irradiation, the sol-like state of Azo/PNIPAm/[C₂mim][NTf₂] provided a higher ion conduction (around 1 mS/cm) while being exposed to visible light, and a lower ion conduction (0.04 mS/cm) was observed in the gel state. This photoswitchable ion conductivity device was integrated to a well-designed logic gate to switch circuits on or off. This confirms the possible practical application of the sol-gel device, which outputs stable and detectable electrical signals. The research here demonstrates a simple but effective strategy to control the ionic movements, which can be applied in optoelectronic devices. The principle can be used to design different types of molecular optoelectronic switches.

Reconfigurable and Recyclable Photoactuators Based on Azobenzene-Containing Polymers

Photoactuators are promising smart materials that can adapt their shapes upon light illumination. Smart materials with recycling, reusable, and reconfigurable properties are crucial for a sustainable society, and it is important to expand their function. Recently, much effort was made to address the issue of reprocessability and recyclability of photoactuators. Based on the development of polymer chemistry, supramolecular chemistry, and dynamic covalent chemistry, it is now possible to prepare reconfigurable and recyclable photoactuators using azobenzene-containing polymers (azopolymers). Herein, the recent advances on reconfigurable and reprocessable photoactuators, including dynamic crosslinked networks systems and non-covalently crosslinked azobenzene-containing polymers, were reviewed. We discuss the challenges in the field as well as the directions for the development of such photoactuators.

Reconfigurable Soft Actuators with Multiple-Stimuli Responses

Multiple-stimuli responsive soft actuators with tunable initial shapes would have substantial potential in broad technological applications, ranging from advanced sensors, smart robots to biomedical devices. However, existing soft actuators are often limited to single initial shape and are unable to reversibly reconfigure into desirable shapes, which severely restricts the multifunctions that can be integrated into one actuator. Here, a novel reconfigurable supramolecular polymer/polyethylene terephthalate (PET) bilayer actuator exhibiting multiple-stimuli responses is presented. In this bilayer actuator, the supramolecular polymer layer constructed of poly(5-Norbornene-2-carboxylic acid-1,3-cyclooctadiene) (PNCCO) and azopyridine derivative (PyAzoPy) via H-bonds provides multiple-stimuli responses: PyAzoPy offers light response and carboxylic groups in PNCCO endow the actuator with humidity response. Meanwhile thermoplastic PET layer enables the bilayer actuators to be reconfigured into various shapes by thermal stimuli. The rationally designed actuators exhibit versatile capabilities to reversibly reconfigure into a set of initial shapes and carry out multiple functions, such as photo-driven "foldback-clip" and Ω-shaped crawling robots. In addition, bio-inspired plants constructed by reconfiguration of such actuators demonstrate reversible multiple-stimuli responses. It is anticipated that these novel actuators with highly tunable geometries and actuation modes would be useful to develop multifunctional devices capable of performing diverse tasks.

Highly Robust and Self-Powered Electronic Skin Based on Tough Conductive Self-Healing Elastomer

Self-powered electronic skin (E-skin) can be endowed with high robustness by employing self-healing materials. However, most self-powered E-skin employs two heterogeneous materials with high modulus mismatch at the interface and poor fully self-healing ability, which reduces the robustness of the whole device. Here, a conductive polyurethane elastomer (PUE) with excellent mechanical toughness and self-healing ability is prepared. Based on the self-healing insulated/conductive PUE homogeneous structure and triboelectric-electrostatic induction effect, a highly robust and self-powered E-skin (HRSE-skin) is developed. The HRSE-skin possesses stable mechanosensation capability during the 50% stretching deformation due to a low modulus mismatch in the homogeneous structure. In addition, the stretchability and mechanosensation capability of the HRSE-skin can be restored after the fracture owing to the fully self-healing ability of the homogeneous structure. Therefore, the HRSE-skin has high robustness of the whole device including stable service behaviors and excellent restorability. The developed HRSE-skin demonstrates high robustness in the detection of the force and bending angle of the prosthetic joint. This work solves the low robustness of self-powered E-skin by the preparation of conductive self-healing PUE and the construction of the homogeneous structure, which is important for the practical applications of self-powered E-skin in prosthetic limbs and advanced robotics.

Fabrication of Photoresponsive Crystalline Artificial Muscles Based on PEGylated Covalent Organic Framework Membranes

Seeking new photoresponsive materials with high energy conversion efficiency, good mechanical properties, as well as well-defined photoactuation mechanisms is of paramount significance. To address these challenges, we first introduced crystalline covalent organic frameworks (COFs) into the photoactuator field and created a facile fabrication strategy to directly install photoresponsive functional groups (i.e., acylhydrazone) on the skeletons of COFs. Herein, an approach to use polyethylene glycol (PEG) cross-linked dimers as the building blocks of the COF-42 platform was developed and afforded a series of uniform and freestanding membranes (PEG-COF-42) with outstanding mechanical properties (e.g., high flexibility and mechanical strength). Notably, these membranes possessed a fast mechanical response (e.g., bending) to UV light and good reversibility upon blue light or heating. After an in-depth investigation of the photoactuation mechanism via various techniques, we proposed a mechanism for the photoresponsive performance of PEG-COF-42: configurational change of acylhydrazone (i.e., E ↔ Z isomerization) accompanied by an excited-state intramolecular proton transfer (ESIPT) process intramolecularly transferring hydrogens from hydrogen donors (N-H) to hydrogen acceptors (oxygen in PEG). Moreover, attributed to the PEG moieties, PEG-COF-42 also demonstrated a vapor-responsive performance. This study not only broadens the application scopes of COFs but also provides new opportunities for the construction of multi-stimuli-responsive materials.

Tunable Supramolecular Nanoarchitectures Constructed by the Complexation of Diphenanthro-24-Crown-8/Cesium(I) with Nickel(II) and Silver(I) Ions

Tunable supramolecular nanoarchitectures have received enormous attention because of their potential in materials fabrication. Herein, a variety of morphologically intriguing nanoarchitectures have been constructed from diphenanthro-24-crown-8 ether (DPC) and metal ions. SEM and TEM showed that the self-assembled nanofibers undergo a Cs^I -induced transformation into regular nanoribbons, and further into nanospheres and nanoparticles by the complexation of Ni^II and Ag^I ions because of the strong ion-dipole interaction. Moreover, the X-ray crystal structure determination and powder X-diffraction data further confirmed that these morphological transformations resulted from the different complexation between DPC and metal ions. This result provides a new strategy for the subtle manipulation of supramolecular assemblies.

Design of Collective Motions from Synthetic Molecular Switches, Rotors, and Motors

Precise control over molecular movement is of fundamental and practical importance in physics, biology, and chemistry. At nanoscale, the peculiar functioning principles and the synthesis of individual molecular actuators and machines has been the subject of intense investigations and debates over the past 60 years. In this review, we focus on the design of collective motions that are achieved by integrating, in space and time, several or many of these individual mechanical units together. In particular, we provide an in-depth look at the intermolecular couplings used to physically connect a number of artificial mechanically active molecular units such as photochromic molecular switches, nanomachines based on mechanical bonds, molecular rotors, and light-powered rotary motors. We highlight the various functioning principles that can lead to their collective motion at various length scales. We also emphasize how their synchronized, or desynchronized, mechanical behavior can lead to emerging functional properties and to their implementation into new active devices and materials.

Dependence of the photo-response behavior of self-assembled 2D Azo-derivatives on the functional groups on a solid surface

Here, by means of scanning tunneling microscopy, we found that 2D self-assembled monolayers of four azobenzene derivatives exhibited different isomerization behaviors when taken from dark to irradiation conditions.