Twists and Turns in Glassy, Liquid Crystalline Polymer Networks

Hot Fingers: Individually Addressable Graphene-Heater Actuated Liquid Crystal Grippers

Liquid crystal-based actuators are receiving increased attention for their applications in wearables and biomedical or surgical devices, with selective actuation of individual parts/fingers still being in its infancy. This work presents the design and realization of two gripper devices with four individually addressable liquid-crystal network (LCN) actuators thermally driven via printed graphene-based heating elements. The resistive heat causes the all-organic actuator to bend due to anisotropic volume expansions of the splay-aligned sample. A heat transfer model that includes all relevant interfaces is presented and verified via thermal imaging, which provides good estimates of dimensions, power production, and resistance required to reach the desired temperature for actuation while maintaining safe electrical potentials. The LCN films displace up to 11 mm with a bending force of 1.10 mN upon application of 0-15 V potentials. The robustness of the LCN finger is confirmed by repetitive on/off switching for 500 cycles. Actuators are assembled into two prototypes able to grip and lift objects of small weights (70-100 mg) and perform complex actions by individually controlling one of the device's fingers to grip an additional object. Selective actuation of parts in soft robotic devices will enable more complex motions and actions to be performed.

Optomechanical computing in liquid crystal elastomers

Embodied decision-making in soft, engineered matter has sparked recent interest towards the development of intelligent materials. Such decision-making capabilities can be realized in soft materials via digital information processing with combinational logic operations. Although previous research has explored soft material actuators and embedded logic in soft materials, achieving a high degree of autonomy in these material systems remains a challenge. Light is an ideal stimulus to trigger information processing in soft materials due to its low thermal effect and remote use. Thus, one approach for developing soft, autonomous materials is to integrate optomechanical computing capabilities in photoresponsive materials. Here, we establish a methodology to embed combinational logic circuitry in a photoresponsive liquid crystal elastomer (LCE) film. These LCEs are designed with embedded switches and integrated circuitry using liquid metal-based conductive traces. The resulting optomechanical computing LCEs can effectively process optical information via light, thermal, and mechanical energy conversion. The methods introduced in this work to fabricate a material capable of optical information processing can facilitate the implementation of a sense of sight in soft robotic systems and other compliant devices.

3D printing programmable liquid crystal elastomer soft pneumatic actuators

Soft pneumatic actuators (SPAs) rely on anisotropic mechanical properties to generate specific motions after inflation. To achieve mechanical anisotropy, additional stiff materials or heterogeneous structures are typically introduced in isotropic base materials. However, the inherent limitations of these strategies may lead to potential interfacial problems or inefficient material usage. Herein, we develop a new strategy for fabricating SPAs based on an aligned liquid crystal elastomer (LCE) by a modified 3D printing technology. A rotating substrate enables the one-step fabrication of tubular LCE-SPAs with designed alignments in three dimensions. The alignment can be precisely programmed through printing, resulting in intrinsic mechanical anisotropy of the LCE. With a specially designed alignment, LCE-SPAs can achieve basic motions-contraction, elongation, bending, and twisting-and accomplish diverse tasks, e.g., grabbing objects and mixing water. This study provides a new perspective for the design and fabrication of SPAs.

Role of Alicyclic Conformation-Isomerization in the Photomechanical Performance of Azobenzene-Functionalized Cross-Linked Polyimides Containing Tetra-Substituted Cyclohexane Moieties

The classical "chair-twist boat-boat" conformational dynamics (CD) of cyclohexane is thermally activated. Here we report on the photoinduced/azobenzene-assisted CD of bilaterally fused cyclohexane moieties contributing to large photomechanical response of cross-linked azobenzene-functionalized polyimides (X-azoPI), based on 1,2,4,5-cyclohexane-tetracarboxylic-dianhydride (CHDA), exhibiting a photobending angle and photogenerated stress, up to ∼90° and 370 kPa, respectively. In contrast, X-azoPI containing planar pyromellitimide (PMDI) or cage-like bicyclo[2.2.2]oct-7-ene-2,3,5,6-tetracarboxylic-diimide (BCDI) show smaller photomechanical responses. The superior photomechanical performance of X-azoPI with constrained cyclohexane-diimide (CHDI) units is attributed to an increased mobility of segments comprising "hinged" p-phenylene rings, azobenzene, and CHDI units in the cross-link sites. Blue light irradiation initiates the motions driven by photoisomerization/reorientation of azobenzenes connected to CHDI units, whose CD is then amplified, leading to longer-range segmental mobility, more local free volume, and culminating in large photoinduced bending. The trapping of redistributed CHDI's stereoisomers in X-azoPI backbone at T_room is implicated for the observed photothermal memory.

Self-Winding Gelatin-Amyloid Wires for Soft Actuators and Sensors

The origin of self-winding mechanisms in plants' tendrils has fascinated scientists for centuries and continues to inspire developments in material science and nanotechnology. Here, bioinspired water-responsive wires that replicate these mechanisms, including the formation of coils and chiral perversions, are presented. A right-handed gelatin matrix is loaded with rigid left-handed amyloid fibrils and roll-dry-spun into wires in which self-winding activation emerges from simultaneous bending and twisting deformations. Wire bending is a consequence of amyloid fibrils' concentration and distribution within the wire, whereas twisting is controlled by amyloid fibrils' orientation. The resultant wires can be functionalized by organic molecules and inorganic nanoparticles, and potential applications in magnetic actuators and sensors are demonstrated. The simple fabrication method and the remarkable spontaneous self-winding response of these gelatin-amyloid wires exemplify how biomaterials based on mixed proteins have striking potential to develop advanced and tunable properties that can serve robotics, soft machines, and engineering systems.

Stimuli-Responsive Shape Changing Commodity Polymer Composites and Bilayers

Commodity polymers are produced in large volumes, providing robust mechanical properties at relatively low costs. The products made from these commodity polymers typically offer only static functionalities. Over the past decade, however, in the scientific literature, stimuli-responsive additives and/or polymer coatings have been introduced to commodity polymers, yielding composites and bilayers that change shape in response to light, temperature, and/or humidity. These stimuli responsive commodity polymers allow the marketing and sales of these otherwise bulk products as "high-end" smart materials for applications spanning from soft actuators to adaptive textiles. This Spotlight on Applications presents an overview of recent intriguing works on how shape changing commodity polymer composite and bilayer actuators based on polyamide 6, poly(ethylene terephthalate), polyethylene, and polypropylene have been fabricated that respond to environmental stimuli and discusses their potential applications.

Unravelling humidity-gated, temperature responsive bilayer actuators

By spraying liquid crystal mixtures onto stretched polyamide 6 (PA6) substrates, dual-responsive heat/humidity bilayer actuators are generated. The oriented PA6 guides the self-organization of the liquid crystal monomers into well-aligned, anisotropic liquid crystal networks. The bilayer responds to changes in the environmental relative humidity, resulting in bending of the actuator with the liquid crystal network inside the curvature. In contrast, in conditions of constant high humidity (80%RH), increasing the temperature triggers the liquid crystal network coating to bend the bilayer in the opposing direction. The dual-responsivity to changes in environmental humidity and temperature is examined in detail and discussed theoretically to elucidate the humidity-gated, temperature responsive properties revealing guidelines for fabricating anisotropic bilayer actuators.

Twist again: Dynamically and reversibly controllable chirality in liquid crystalline elastomer microposts

Photoresponsive liquid crystalline elastomers (LCEs) constitute ideal actuators for soft robots because their light-induced macroscopic shape changes can be harnessed to perform specific articulated motions. Conventional LCEs, however, do not typically exhibit complex modes of bending and twisting necessary to perform sophisticated maneuvers. Here, we model LCE microposts encompassing side-chain mesogens oriented along a magnetically programmed nematic director, and azobenzene cross-linkers, which determine the deformations of illuminated posts. On altering the nematic director orientation from vertical to horizontal, the post's bending respectively changes from light-seeking to light-avoiding. Moreover, both modeling and subsequent experiments show that with the director tilted at 45°, the initially achiral post reversibly twists into a right- or left-handed chiral structure, controlled by the angle of incident light. We exploit this photoinduced chirality to design "chimera" posts (encompassing two regions with distinct director orientations) that exhibit simultaneous bending and twisting, mimicking motions exhibited by the human musculoskeletal system.

Direct shape programming of liquid crystal elastomers

Liquid crystal elastomers (LCEs) are shape morphing materials promising for many applications including soft robotics, actuators, and biomedical devices, but current LCE synthesis techniques lack a simple method to program new and arbitrary shape changes. Here, we demonstrate a straightforward method to directly program complex, reversible, non-planar shape changes in nematic LCEs. We utilize a double network synthesis process that results in a competitive double network LCE. By optimizing the crosslink densities of the first and second network we can mechanically program non-planar shapes with strains between 4-100%. This enables us to directly program LCEs using mechanical deformations that impart low or high strains in the LCE including stamping, curling, stretching and embossing methods. The resulting LCEs reversibly shape-shift between the initial and programmed shape. This work widens the potential application of LCEs in biomedical devices, soft-robotics and micro-fluidics where arbitrary and easily programmed shapes are needed.

Helical Structures Mimicking Chiral Seedpod Opening and Tendril Coiling

Helical structures are ubiquitous in natural and engineered systems across multiple length scales. Examples include DNA molecules, plants' tendrils, sea snails' shells, and spiral nanoribbons. Although this symmetry-breaking shape has shown excellent performance in elastic springs or propulsion generation in a low-Reynolds-number environment, a general principle to produce a helical structure with programmable geometry regardless of length scales is still in demand. In recent years, inspired by the chiral opening of Bauhinia variegata's seedpod and the coiling of plant's tendril, researchers have made significant breakthroughs in synthesizing state-of-the-art 3D helical structures through creating intrinsic curvatures in 2D rod-like or ribbon-like precursors. The intrinsic curvature results from the differential response to a variety of external stimuli of functional materials, such as hydrogels, liquid crystal elastomers, and shape memory polymers. In this review, we give a brief overview of the shape transformation mechanisms of these two plant's structures and then review recent progress in the fabrication of biomimetic helical structures that are categorized by the stimuli-responsive materials involved. By providing this survey on important recent advances along with our perspectives, we hope to solicit new inspirations and insights on the development and fabrication of helical structures, as well as the future development of interdisciplinary research at the interface of physics, engineering, and biology.

Liquid crystal polymers with motile surfaces

In analogy with developments in soft robotics it is anticipated that soft robotic functions at surfaces of objects may have a large impact on human life with respect to comfort, health, medical care and energy. In this review, we demonstrate the possibilities and versatilities of liquid crystal networks and elastomers being explored for soft robotics, with an emphasis on motile surface properties, such as topographical dynamics. Typically the surfaces reversibly transfer from a flat state to a pre-designed corrugated state under various stimuli. But also reversible conversion between different corrugated states is feasible. Generally, the driving triggers are heat, light, electricity or contact with pH changing media. Also, the macroscopic effects of those dynamic topographies, such as altering the friction, wettability and/or performing work are illustrated. The review concludes with the existing challenges as well as outlook opportunities.

Photomechanical Deformation of Azobenzene-Functionalized Polyimides Synthesized with Bulky Substituents

Photomechanical effects realized in azobenzene-functionalized polyimides have shown large deformation and an exceptional increase in photogenerated force output. Here, we synthesize and characterize the photomechanical output of a series of linear polyimide materials prepared with a bulky substituent, incorporated via the development of a new bis(azobenzene-diamine) monomer containing a 9,9-diphenylfluorene cardo structure (azoCBODA). All six azoCBODA-containing polyimides are amorphous and exhibit high glass transition temperatures (T_g) ranging from 298 to 358 °C, storage moduli ranging from 2.27 to 3.81 GPa (at 30 °C), and good thermal stability. The magnitude of the photoinduced mechanical response of the azobenzene-functionalized polyimide is correlated to the rotational freedom of the polyimide chains (resulting in extensive segmental mobility) and fractional free volume (FFV > 0.1).

Beam steering by liquid crystal elastomer fibres

The problem of utilizing a laser beam as an information vehicle and dividing it into different channels is an open problem in the telecommunication field. The switching of a signal into different ports has been demonstrated, to date, by employing complex devices and mechanisms such as the electro optic effect, microelectromechanical system (MEMS) mirrors, or liquid crystal-based spatial light modulators (SLMs). We present here a simple device, namely a mirror held by a liquid crystal elastomer (LCE) fibre, as an optically and remotely driven beam steerer. In fact, a considered signal (laser beam) can be addressed in every in-plane direction by controlling the fibre and mirror rotation, i.e., the deflected probe beam angle. Such movement is possible due to the preparation of LCE fibres able to rotate and contract under a selective light stimulus. By adjusting the irradiation stimulus power, elastic fibres are able to rotate with a specific angle, performing more than one complete revolution around their axis. The described movement is perfectly reversible as soon as the stimulus is removed.

Self-Regulating Iris Based on Light-Actuated Liquid Crystal Elastomer

The iris, found in many animal species, is a biological tissue that can change the aperture (pupil) size to regulate light transmission into the eye in response to varying illumination conditions. The self-regulation of the eye lies behind its autofocusing ability and large dynamic range, rendering it the ultimate "imaging device" and a continuous source of inspiration in science. In optical imaging devices, adjustable apertures play a vital role as they control the light exposure, the depth of field, and optical aberrations of the systems. Tunable irises demonstrated to date require external control through mechanical actuation, and are not capable of autonomous action in response to changing light intensity without control circuitry. A self-regulating artificial iris would offer new opportunities for device automation and stabilization. Here, this paper reports the first iris-like, liquid crystal elastomer device that can perform automatic shape-adjustment by reacting to the incident light power density. Similar to natural iris, the device closes under increasing light intensity, and upon reaching the minimum pupil size, reduces the light transmission by a factor of seven. The light-responsive materials design, together with photoalignment-based control over the molecular orientation, provides a new approach to automatic, self-regulating optical systems based on soft smart materials.

High-Power Actuation from Molecular Photoswitches in Enantiomerically Paired Soft Springs

Motion in plants often relies on dynamic helical systems as seen in coiling tendrils, spasmoneme springs, and the opening of chiral seedpods. Developing nanotechnology that would allow molecular-level phenomena to drive such movements in artificial systems remains a scientific challenge. Herein, we describe a soft device that uses nanoscale information to mimic seedpod opening. The system exploits a fundamental mechanism of stimuli-responsive deformation in plants, namely that inflexible elements with specific orientations are integrated into a stimuli-responsive matrix. The device is operated by isomerization of a light-responsive molecular switch that drives the twisting of strips of liquid-crystal elastomers. The strips twist in opposite directions and work against each other until the pod pops open from stress. This mechanism allows the photoisomerization of molecular switches to stimulate rapid shape changes at the macroscale and thus to maximize actuation power.

Multiplicity of shape selection in functionally graded liquid crystalline polymers

The synergy of through-thickness gradation in the orientation of the molecular director and the extent of polymerization is shown to offer a framework for controlling shape selection in integral polymer films.

Photo-responsive liquid crystalline epoxy networks with exchangeable disulfide bonds

Disulfide exchange and thiol–disulfide interchange reactions allow for reprocessing and recycling of azobenzene-based liquid crystalline networks.

Photomotility of polymers

Light is distinguished as a contactless energy source for microscale devices as it can be directed from remote distances, rapidly turned on or off, spatially modulated across length scales, polarized, or varied in intensity. Motivated in part by these nascent properties of light, transducing photonic stimuli into macroscopic deformation of materials systems has been examined in the last half-century. Here we report photoinduced motion (photomotility) in monolithic polymer films prepared from azobenzene-functionalized liquid crystalline polymer networks (azo-LCNs). Leveraging the twisted-nematic orientation, irradiation with broad spectrum ultraviolet–visible light (320–500 nm) transforms the films from flat sheets to spiral ribbons, which subsequently translate large distances with continuous irradiation on an arbitrary surface. The motion results from a complex interplay of photochemistry and mechanics. We demonstrate directional control, as well as climbing.

The demand for soft robots urges the development of new light-responsive materials for remotely powered actuation. Here, Wie et al. show directional motion over centimeter scales using azobenzene-functionalized liquid crystalline polymer films upon continuous radiation from ultraviolet to visible light.

Photoresponsive Liquid Crystalline Epoxy Networks with Shape Memory Behavior and Dynamic Ester Bonds

Functional polymers are intelligent materials that can respond to a variety of external stimuli. However, these materials have not yet found widespread real world applications because of the difficulties in fabrication and the limited number of functional building blocks that can be incorporated into a material. Here, we demonstrate a simple route to incorporate three functional building blocks (azobenzene chromophores, liquid crystals, and dynamic covalent bonds) into an epoxy-based liquid crystalline network (LCN), in which an azobenzene-based epoxy monomer is polymerized with an aliphatic dicarboxylic acid to create exchangeable ester bonds that can be thermally activated. All three functional building blocks exhibited good compatibility, and the resulting materials exhibits various photomechanical, shape memory, and self-healing properties because of the azobenzene molecules, liquid crystals, and dynamic ester bonds, respectively.

Encoding Gaussian curvature in glassy and elastomeric liquid crystal solids

We describe shape transitions of thin, solid nematic sheets with smooth, preprogrammed, in-plane director fields patterned across the surface causing spatially inhomogeneous local deformations. A metric description of the local deformations is used to study the intrinsic geometry of the resulting surfaces upon exposure to stimuli such as light and heat. We highlight specific patterns that encode constant Gaussian curvature of prescribed sign and magnitude. We present the first experimental results for such programmed solids, and they qualitatively support theory for both positive and negative Gaussian curvature morphing from flat sheets on stimulation by light or heat. We review logarithmic spiral patterns that generate cone/anti-cone surfaces, and introduce spiral director fields that encode non-localized positive and negative Gaussian curvature on punctured discs, including spherical caps and spherical spindles. Conditions are derived where these cap-like, photomechanically responsive regions can be anchored in inert substrates by designing solutions that ensure compatibility with the geometric constraints imposed by the surrounding media. This integration of such materials is a precondition for their exploitation in new devices. Finally, we consider the radial extension of such director fields to larger sheets using nematic textures defined on annular domains.

High-Fidelity Replica Molding of Glassy Liquid Crystalline Polymer Microstructures

Liquid crystalline polymers have recently been engineered to exhibit complex macroscopic shape adaptivity, including optically- and thermally driven bending, self-sustaining oscillation, torsional motion, and three-dimensional folding. Miniaturization of these novel materials is of great interest for both fundamental study of processing conditions and for the development of shape-changing microdevices. Here, we present a scalable method for high-fidelity replica molding of glassy liquid crystalline polymer networks (LCNs), by vacuum-assisted replica molding, along with magnetic field-induced control of the molecular alignment. We find that an oxygen-free environment is essential to establish high-fidelity molding with low surface roughness. Identical arrays of homeotropic and polydomain LCN microstructures are fabricated to assess the influence of molecular alignment on the elastic modulus (E = 1.48 GPa compared to E = 0.54 GPa), and side-view imaging is used to quantify the reversible thermal actuation of individual LCN micropillars by high-resolution tracking of edge motion. The methods and results from this study will be synergistic with future advances in liquid crystalline polymer chemistry, and could enable the scalable manufacturing of stimuli-responsive surfaces for applications including microfluidics, tunable optics, and surfaces with switchable wetting and adhesion.

Thermo- and pH-responsive poly(ionic liquid) membranes

Thermo- and pH-responsive poly(ionic liquid) membranes with tunable shape and transparency were synthesized.

Programmable and adaptive mechanics with liquid crystal polymer networks and elastomers

Liquid crystals are the basis of a pervasive technology of the modern era. Yet, as the display market becomes commoditized, researchers in industry, government and academia are increasingly examining liquid crystalline materials in a variety of polymeric forms and discovering their fascinating and useful properties. In this Review, we detail the historical development of liquid crystalline polymeric materials, with emphasis on the thermally and photogenerated macroscale mechanical responses--such as bending, twisting and buckling--and on local-feature development (primarily related to topographical control). Within this framework, we elucidate the benefits of liquid crystallinity and contrast them with other stimuli-induced mechanical responses reported for other materials. We end with an outlook of existing challenges and near-term application opportunities.