Photomotility of polymers

Light-Driven Microrobots for Targeted Drug Delivery

As a new micromanipulation tool with the advantages of small size, flexible movement and easy manipulation, light-driven microrobots have a wide range of prospects in biomedical fields such as drug targeting and cell manipulation. Recently, microrobots have been controlled in various ways, and light field has become a research hotspot by its advantages of noncontact manipulation, precise localization, fast response, and biocompatibility. It utilizes the force or deformation generated by the light field to precisely control the microrobot, and combines with the drug release technology to realize the targeted drug application. Therefore, this paper provides an overview of light-driven microrobots with drug targeting to provide new ideas for the manipulation of microrobots. Here, this paper briefly categorizes the driving mechanisms and materials of light-driven microrobots, which mainly include photothermal, photochemical, and biological. Then, typical designs of light-driven microrobots with different driving mechanisms and control strategies for multiple physical fields are summarized. Finally, the applications of microrobots in the fields of drug targeting and bioimaging are presented as well as the future prospects of light-driven microrobots in the biomedical field are demonstrated.

A review of advanced helical fibers: formation mechanism, preparation, properties, and applications

As a unique structural form, helical structures have a wide range of application prospects. In the field of biology, helical structures are essential for the function of biological macromolecules such as proteins, so the study of helical structures can help to deeply understand life phenomena and develop new biotechnology. In materials science, helical structures can give rise to special physical and chemical properties, such as in the case of spiral nanotubes, helical fibers, etc., which are expected to be used in energy, environment, medical and other fields. The helical structure also has unique charm and application value in the fields of aesthetics and architecture. In addition, helical fibers have attracted a lot of attention because of their tendrils' vascular geometry and indispensable structural properties. In this paper, the development of helical fibers is briefly reviewed from the aspects of mechanism, synthesis process and application. Due to their good chemical and physical properties, helical fibers have a good application prospect in many fields. Potential problems and future opportunities for helical fibers are also presented for future studies.

Easy Processable Photomechanical Thin Film Involving a Photochromic Diarylethene and a Thermoplastic Elastomer in Supramolecular Interaction

A novel supramolecular photoactuator in the form of a thin film of centimetric size has been developed as an alternative to traditional liquid crystal elastomers (LCE) involving azobenzene (AZO) units or photochromic microcrystals. This thin film is produced through spin coating without the need for alignment or crosslinking. The photoactuator combines a photochromic dithienylethene (DTE) functionalized with ureidopyrimidinone (UPy) units, and a telechelic thermoplastic elastomer, also functionalized with UPy, allowing quadruple hydrogen bonding between the two components. Upon alternating ultraviolet (UV) and visible light exposure, the film exhibits reversible bending and color changes, studied using displacement and absorption tracking setups. For the first time, the photomechanical effect (PME) is quantitatively correlated with photochromism, showing that DTE units drive the movement under both UV (photocyclization) and visible (photoreversion) light. In situ illumination techniques reveal that the PME arises from photoinduced strain within 160 nm UPy-bonded DTE domains, which expand and contract by approximately 50% under UV and visible light, respectively. The semicrystalline nature of the elastomer and a robust supramolecular network connecting both components are critical in converting microscopic photostrain into macroscopic actuation.

Solar-Powered Molecular Crystal Motor Based on an Anthracene-Thiazolidinedione Photoisomerization Reaction

Assembling molecular machines into crystals provides a way to harness their power on large length scales, but the development of a crystal analogue to a molecular motor remains a challenge. The molecule (Z)-5-(anthracen-9-ylmethylene)-3-butylthiazolidine-2,4-dione (C4-ATD) has E and Z isomers with strongly overlapping absorption spectra. This spectroscopic property allows both Z → E and E → Z photoisomerization reactions to be driven by a single light source, and simulations indicate this property can provide a route to robust oscillatory motion. Reprecipitation in an aqueous surfactant enables the growth of single crystal microwires that exhibit continuous mechanical oscillations under a wide range of illumination conditions, including ambient solar irradiation. Molecular crystal motors provide a new approach for transforming continuous light into oscillatory mechanical motion.

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.

Multimodal Autonomous Locomotion of Liquid Crystal Elastomer Soft Robot

Self-oscillation phenomena observed in nature serve as extraordinary inspiration for designing synthetic autonomous moving systems. Converting self-oscillation into designable self-sustained locomotion can lead to a new generation of soft robots that require minimal/no external control. However, such locomotion is typically constrained to a single mode dictated by the constant surrounding environment. In this study, a liquid crystal elastomer (LCE) robot capable of achieving self-sustained multimodal locomotion, with the specific motion mode being controlled via substrate adhesion or remote light stimulation is presented. Specifically, the LCE is mechanically trained to undergo repeated snapping actions to ensure its self-sustained rolling motion in a constant gradient thermal field atop a hotplate. By further fine-tuning the substrate adhesion, the LCE robot exhibits reversible transitions between rolling and jumping modes. In addition, the rolling motion can be manipulated in real time through light stimulation to perform other diverse motions including turning, decelerating, stopping, backing up, and steering around complex obstacles. The principle of introducing an on-demand gate control offers a new venue for designing future autonomous soft robots.

Liquid crystalline elastomer self-oscillating fiber actuators fabricated from soft tubular molds

The self-oscillation of objects that perform continuous and periodic motions upon unchanging and constant stimuli is highly important for intelligent actuators, advanced robotics, and biomedical machines. Liquid crystalline elastomer (LCE) materials are superior to traditional stimuli-responsive polymeric materials in the development of self-oscillators because of their reversible, large and anisotropic shape-changing ability, fast response ability and versatile structural design. In addition, fiber-shaped oscillators have attracted much interest due to their agility, flexibility and diverse oscillation modes. Herein, we present a strategy for fabricating fiber-shaped LCE self-oscillators using soft tubes as molds. Through the settlement of different configuration states of the soft tubes, the prepared fiber-shaped LCE oscillators can perform continuous rotational self-oscillation or up-and-down shifting self-oscillation under constant light stimuli, which are realized by photoinduced repetitive self-winding motion and self-waving motion, respectively. The mechanism of self-oscillating movements is attributed to the local temperature oscillation of LCE fibers caused by repetitive self-shadowing effects. LCE self-oscillators can operate stably over many oscillating cycles without obvious performance attenuation, revealing good robustness. Our work offers a versatile way by which LCE self-oscillators can be conveniently designed and fabricated in bulk and at low cost, and broadens the road for developing self-oscillating materials for biological robotics and health care machines.

Sidewinder-Inspired Self-Adjusting, Lateral-Rolling Soft Robots for Autonomous Terrain Exploration

Helical structures of liquid crystal elastomers (LCEs) hold promise in soft robotics for self-regulated rolling motions. The understanding of their motion paths and potentials for terrain exploration remains limited. This study introduces a self-adjusting, lateral-rolling soft robot inspired by sidewinder snakes. The spring-like LCE helical filaments (HFs) autonomously respond to thermal cues, demonstrating dynamic and sustainable locomotion with adaptive rolling along non-linear paths. By fine-tuning the diameter, pitch, and modulus of the LCE HFs, and the environmental temperature, the movements of the LCE HFs, allowing for exploration of diverse terrains over a 600 cm2 area within a few minutes, can be programmed. LCE HFs are showcased to navigate through over nine obstacles, including maze escaping, terrain exploration, target hunting, and successfully surmounting staircases through adaptable rolling.

Light-Fueled Nonreciprocal Self-Oscillators for Fluidic Transportation and Coupling

Light-fueled self-oscillators based on soft actuating materials have triggered novel designs for small-scale robotic constructs that self-sustain their motion at non-equilibrium states and possess bioinspired autonomy and adaptive functions. However, the motions of most self-oscillators are reciprocal, which hinders their use in sophisticated biomimetic functions such as fluidic transportation. Here, an optically powered soft material strip that can perform nonreciprocal, cilia-like, self-sustained oscillation under water is reported. The actuator is made of planar-aligned liquid crystal elastomer responding to visible light. Two laser beams from orthogonal directions allow for piecewise control over the strip deformation, enabling two self-shadowing effects coupled in one single material to yield nonreciprocal strokes. The nonreciprocity, stroke pattern and handedness are connected to the fluidic pumping efficiency, which can be controlled by the excitation conditions. Autonomous microfluidic pumping in clockwise and anticlockwise directions, translocation of a micro-object by liquid propulsion, and coupling between two oscillating strips through liquid medium interaction are demonstrated. The results offer new concepts for non-equilibrium soft actuators that can perform bio-like functions under water.

Embedded Physical Intelligence in Liquid Crystalline Polymer Actuators and Robots

Responsive materials possess the inherent capacity to autonomously sense and respond to various external stimuli, demonstrating physical intelligence. Among the diverse array of responsive materials, liquid crystalline polymers (LCPs) stand out for their remarkable reversible stimuli-responsive shape-morphing properties and their potential for creating soft robots. While numerous reviews have extensively detailed the progress in developing LCP-based actuators and robots, there exists a need for comprehensive summaries that elucidate the underlying principles governing actuation and how physical intelligence is embedded within these systems. This review provides a comprehensive overview of recent advancements in developing actuators and robots endowed with physical intelligence using LCPs. This review is structured around the stimulus conditions and categorizes the studies involving responsive LCPs based on the fundamental control and stimulation logic and approach. Specifically, three main categories are examined: systems that respond to changing stimuli, those operating under constant stimuli, and those equip with learning and logic control capabilities. Furthermore, the persisting challenges that need to be addressed are outlined and discuss the future avenues of research in this dynamic field.

Liquid Crystal Elastomer Artificial Tendrils with Asymmetric Core-Sheath Structure Showing Evolutionary Biomimetic Locomotion

The sophisticated and complex haptonastic movements in response to environmental-stimuli of living organisms have always fascinated scientists. However, how to fundamentally mimic the sophisticated hierarchical architectures of living organisms to provide the artificial counterparts with similar or even beyond-natural functions based on the underlying mechanism remains a major scientific challenge. Here,  liquid crystal elastomer (LCE) artificial tendrils showing evolutionary biomimetic locomotion are developed following the structure-function principle that is used in nature to grow climbing plants. These elaborately designed tendril-like LCE actuators possess an asymmetric core-sheath architecture which shows a higher-to-lower transition in the degree of LC orientation from the sheath-to-core layer across the semi-ellipse cross-section. Upon heating and cooling, the LCE artificial tendril can undergo reversible tendril-like shape-morphing behaviors, such as helical coiling/winding, and perversion. The fundamental mechanism of the helical shape-morphing of the artificial tendril is revealed by using theoretical models and finite element simulations. Besides, the incorporation of metal-ligand coordination into the LCE network provides the artificial tendril with reconfigurable shape-morphing performances such as helical transitions and rotational deformations. Finally, the abilities of helical and rotational deformations are integrated into a new reprogrammed flagellum-like architecture to perform evolutionary locomotion mimicking the haptonastic movements of the natural flagellum.

Light-Responsive Actuator of Azobenzene-Containing Main-Chain Liquid Crystal Elastomers with Allyl Sulfide Dynamic Exchangeable Linkages

Herein, a light-responsive and light-induced bond-exchange-reaction (BER)-capable actuator of the monodomain liquid crystal elastomer (xMLCEazo), developed using main-chain mesogenic oligomers containing azobenzene and allyl sulfide linkages, is investigated. Large quantities of the azobenzene and allyl dithiol linkages are incorporated into the main-chain mesogenic oligomer prepared via thiol-acrylate Michael addition polymerization (TAMAP). The xMLCEazo film is generated via visible-light-induced BER of the drawn polydomain xLCEazo (xPLCEazo) film prepared via TAMAP of tetrathiol cross-linkers and diacrylate-terminated mesogenic oligomers. The xMLCEazo film exhibits large length actuation (38%) through the photothermal effect, along with excellent self-healing and reprogramming properties, under ultraviolet (UV) light irradiation. UV light induced BER of the xMLCEazo film is used to develop complex-shaped actuators with a bilayer film, containing the xMLCEazo and xPLCEazo films, which are bonded by the UV light induced BER without glue. The individual arm of the complex eight-arm flower is remotely actuated under UV light irradiation, and a circular band is rolled under blue laser light irradiation, demonstrating the local remote-controlled actuation and fuel-free motion of the motile soft robot using light irradiation, respectively. Thus, the xMLCEazo film can be expanded to other interesting applications requiring reprogrammable, self-healing, reprocessable, patternable, and remote-controlled light-triggered elastic, rubber-like actuators.

Defected twisted ring topology for autonomous periodic flip-spin-orbit soft robot

Periodic spin-orbit motion is ubiquitous in nature, observed from electrons orbiting nuclei to spinning planets orbiting the Sun. Achieving autonomous periodic orbiting motions, along circular and noncircular paths, in soft mobile robotics is crucial for adaptive and intelligent exploration of unknown environments-a grand challenge yet to be accomplished. Here, we report leveraging a closed-loop twisted ring topology with a defect for an autonomous soft robot capable of achieving periodic spin-orbiting motions with programmed circular and re-programmed irregular-shaped trajectories. Constructed by bonding a twisted liquid crystal elastomer ribbon into a closed-loop ring topology, the robot exhibits three coupled periodic self-motions in response to constant temperature or constant light sources: inside-out flipping, self-spinning around the ring center, and self-orbiting around a point outside the ring. The coupled spinning and orbiting motions share the same direction and period. The spinning or orbiting direction depends on the twisting chirality, while the orbital radius and period are determined by the twisted ring geometry and thermal actuation. The flip-spin and orbiting motions arise from the twisted ring topology and a bonding site defect that breaks the force symmetry, respectively. By utilizing the twisting-encoded autonomous flip-spin-orbit motions, we showcase the robot's potential for intelligently mapping the geometric boundaries of unknown confined spaces, including convex shapes like circles, squares, triangles, and pentagons and concaves shapes with multi-robots, as well as health monitoring of unknown confined spaces with boundary damages.

Self-Rotation of Electrothermally Responsive Liquid Crystal Elastomer-Based Turntable in Steady-State Circuits

Self-excited motions, characterized by their ability to harness energy from a consistent environment and self-regulate, exhibit significant potential in micro-devices, autonomous robotics, sensor technology, and energy generation. This study introduces an innovative turntable system based on an electrothermally responsive liquid crystal elastomer (LCE). This system facilitates self-rotation within a steady-state circuit. Employing an electrothermal LCE model, we have modeled and numerically analyzed the nonlinear dynamics of an LCE-rope within steady-state circuits, utilizing the four-order Runge-Kutta method for calculations. The numerical results reveal the emergence of two distinct motion patterns in the turntable system under steady-state conditions: a self-rotation pattern and a static pattern. The self-rotation is initiated when the system's absorbed energy surpasses the energy lost due to damping effects. Furthermore, this paper delves into the critical conditions necessary for initiating self-rotation and examines the influence of various key dimensionless parameters on the system's rotation amplitude and frequency. These parameters include gravitational acceleration, the initial position of the mass ball, elastic stiffness of the LCE and spring, limiting temperature, heating zone angle, thermal shrinkage coefficient, and damping factor. Our computational findings establish that these parameters exert a modulatory impact on the rotation amplitude and period. This research enhances the understanding of self-excited motions and offers promising avenues for applications in energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices.

Steerable and Agile Light-Fueled Rolling Locomotors by Curvature-Engineered Torsional Torque

On-demand photo-steerable amphibious rolling motions are generated by the structural engineering of monolithic soft locomotors. Photo-morphogenesis of azobenzene-functionalized liquid crystal polymer networks (azo-LCNs) is designed from spiral ribbon to helicoid helices, employing a 270° super-twisted nematic molecular geometry with aspect ratio variations of azo-LCN strips. Unlike the intermittent and biased rolling of spiral ribbon azo-LCNs with center-of-mass shifting, the axial torsional torque of helicoid azo-LCNs enables continuous and straight rolling at high rotation rates (≈720 rpm). Furthermore, center-tapered helicoid structures with wide edges are introduced for effectively accelerating photo-motilities while maintaining directional controllability. Irrespective of surface conditions, the photo-induced rotational torque of center-tapered helicoid azo-LCNs can be transferred to interacting surfaces, as manifested by steep slope climbing and paddle-like swimming multimodal motilities. Finally, the authors demonstrate continuous curvilinear guidance of soft locomotors, bypassing obstacles and reaching desired destinations through real-time on-demand photo-steering.

Self-Oscillating Liquid Crystal Elastomer Helical Spring Oscillator with Combined Tension and Torsion

Self-oscillation is the autonomous maintenance of continuous periodic motion through energy absorption from non-periodic external stimuli, making it particularly attractive for fabricating soft robots, energy-absorbing devices, mass transport devices, and so on. Inspired by the self-oscillating system that presents high degrees of freedom and diverse complex oscillatory motions, we created a self-oscillating helical spring oscillator with combined tension and torsion under steady illumination, among which a mass block and a liquid crystal elastomer (LCE) helical spring made with LCE wire are included. Considering the well-established helical spring model and the dynamic LCE model, a nonlinear dynamic model of the LCE helical spring oscillator under steady illumination is proposed. From numerical calculation, the helical spring oscillator upon exposure to steady illumination possesses two motion regimes, which are the static regime and the self-tension-torsion regime. Contraction of the LCE wire under illumination is necessary to generate the self-tension-torsion of the helical spring oscillator, with its continuous periodic motion being maintained by the mutual balance between light energy input and damping dissipation. Additionally, the critical conditions for triggering the self-tension-torsion, as well as the vital system parameters affecting its frequencies and amplitudes of the translation and the rotation, were investigated in detail. This self-tension-torsion helical spring oscillator is unique in its customizable mechanical properties via its structural design, small material strain but large structural displacement, and ease of manufacture. We envision a future of novel designs for soft robotics, energy harvesters, active machinery, and so on.

Regulating photosalient behavior in dynamic metal-organic crystals

Dynamic photoactuating crystals have become a sensation due to their potential applications in developing smart medical devices, molecular machines, artificial muscles, flexible electronics actuators, probes and microrobots. Here we report the synthesis of two iso-structural metal-organic crystals, [Zn(4-ohbz)₂(4-nvp)₂] (1) and [Cd(4-ohbz)₂(4-nvp)₂] (2) {H4-ohbz = 4-hydroxy benzoic acid; 4-nvp = 4-(1-naphthylvinyl)pyridine} which undergo topochemical [2 + 2] cycloaddition under UV irradiation as well as sunlight to generate a dimerized product of discrete metal-complex [Zn(4-ohbz)₂(rctt-4-pncb)] {rctt-4-pncb = 1,3-bis(4'-pyridyl)-2,4-bis(naphthyl)cyclobutane} (1') and one-dimensional coordination polymer (1D CP) [Cd(4-ohbz)₂(rctt-4-pncb)] (2') respectively, in a single-crystal-to-single-crystal (SCSC) process. The Zn-based compound demonstrates photosalient behaviour, wherein crystals show jumping, splitting, rolling, and swelling upon UV irradiation. However, the Cd-based crystals do not show such behaviour maintaining the initial supramolecular packing and space group. Thus the photomechanical behaviour can be induced by choosing a suitable metal ion. The above findings are thoroughly validated by quantitative density functional theory (DFT) calculations which show that the Zn-based crystal shifts towards an orthorhombic structure to resolve the anisotropic UV-induced mechanical strain. Furthermore, the mechano-structure-property relationship has been established by complimentary nanoindentation measurements, which are in-line with the DFT-predicted single crystal values.

Self-Sustained Oscillation of Electrothermally Responsive Liquid Crystal Elastomer Film in Steady-State Circuits

Self-excited oscillations have the advantages of absorbing energy from a stable environment and Self-control; therefore, Self-excited motion patterns have broader applications in micro devices, autonomous robots, sensors and energy-generating devices. In this paper, a Self-sustained curling liquid crystal elastomer (LCE) film-mass system is proposed on the basis of electrothermally responsive materials, which can realize Self-oscillation under a steady-state current. Based on the contact model and dynamic LCE model, a nonlinear dynamics model of LCE film in steady-state circuits is developed and numerical calculations are carried out using the Runge-Kutta method. Through numerical calculations, it is demonstrated that LCE film-mass systems have two motion patterns in steady-state circuits: namely, a Self-oscillation pattern and a stationary pattern. Self-sustained curling of LCE film originates from the fact that the energy absorbed by the system exceeds the energy dissipated due to the damping effect. In addition, the critical conditions for triggering Self-oscillation and the effects of several key dimensionless system parameters on the amplitude and period of Self-oscillation are investigated in detail. Calculation results show that the height of electrolyte solution, gravitational acceleration, elastic modulus of LCE film, limit temperature, curvature coefficient, thermal shrinkage coefficient and damping factor all have a modulating effect on the amplitude and period of Self-oscillation. This research may deepen the understanding of Self-excited oscillation, with promising applications in energy harvesting, power generation, monitoring, soft robotics, medical devices, and micro and nano devices.

Recent Advances in 4D Printing of Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are renowned for their large, reversible, and anisotropic shape change in response to various external stimuli due to their lightly cross-linked polymer networks with an oriented mesogen direction, thus showing great potential for applications in robotics, bio-medics, electronics, optics, and energy. To fully take advantage of the anisotropic stimuli-responsive behaviors of LCEs, it is preferable to achieve a locally controlled mesogen alignment into monodomain orientations. In recent years, the application of 4D printing to LCEs opens new doors for simultaneously programming the mesogen alignment and the 3D geometry, offering more opportunities and higher feasibility for the fabrication of 4D-printed LCE objects with desirable stimuli-responsive properties. Here, the state-of-the-art advances in 4D printing of LCEs are reviewed, with emphasis on both the mechanisms and potential applications. First, the fundamental properties of LCEs and the working principles of the representative 4D printing techniques are briefly introduced. Then, the fabrication of LCEs by 4D printing techniques and the advantages over conventional manufacturing methods are demonstrated. Finally, perspectives on the current challenges and potential development trends toward the 4D printing of LCEs are discussed, which may shed light on future research directions in this new field.

Statistical field theory for nonlinear elasticity of polymer networks with excluded volume interactions

Polymer networks formed by cross linking flexible polymer chains are ubiquitous in many natural and synthetic soft-matter systems. Current micromechanics models generally do not account for excluded volume interactions except, for instance, through imposing a phenomenological incompressibility constraint at the continuum scale. This work aims to examine the role of excluded volume interactions on the mechanical response. The approach is based on the framework of the self-consistent statistical field theory of polymers, which provides an efficient mesoscale approach that enables the accounting of excluded volume effects without the expense of large-scale molecular modeling. A mesoscale representative volume element is populated with multiple interacting chains, and the macroscale nonlinear elastic deformation is imposed by mapping the end-to-end vectors of the chains by this deformation. In the absence of excluded volume interactions, it recovers the closed-form results of the classical theory of rubber elasticity. With excluded volume interactions, the model is solved numerically in three dimensions using a finite element method to obtain the energy, stresses, and linearized moduli under imposed macroscale deformation. Highlights of the numerical study include: (i) the linearized Poisson's ratio is very close to the incompressible limit without a phenomenological imposition of incompressibility; (ii) despite the harmonic Gaussian chain as a starting point, there is an emergent strain-softening and strain-stiffening response that is characteristic of real polymer networks, driven by the interplay between the entropy and the excluded volume interactions; and (iii) the emergence of a deformation-sensitive localization instability at large excluded volumes.

Dynamically Tunable Optical Cavities with Embedded Nematic Liquid Crystalline Networks

Tunable metal-insulator-metal (MIM) Fabry-Pérot (FP) cavities that can dynamically control light enable novel sensing, imaging and display applications. However, the realization of dynamic cavities incorporating stimuli-responsive materials poses a significant engineering challenge. Current approaches rely on refractive index modulation and suffer from low dynamic tunability, high losses, and limited spectral ranges, and require liquid and hazardous materials for operation. To overcome these challenges, a new tuning mechanism employing reversible mechanical adaptations of a polymer network is proposed, and dynamic tuning of optical resonances is demonstrated. Solid-state temperature-responsive optical coatings are developed by preparing a monodomain nematic liquid crystalline network (LCN) and are incorporated between metallic mirrors to form active optical microcavities. LCN microcavities offer large, reversible and highly linear spectral tuning of FP resonances reaching wavelength-shifts up to 40 nm via thermomechanical actuation while featuring outstanding repeatability and precision over more than 100 heating-cooling cycles. This degree of tunability allows for reversible switching between the reflective and the absorbing states of the device over the entire visible and near-infrared spectral regions, reaching large changes in reflectance with modulation efficiency ΔR = 79%.

Self-Sustained Snapping Drives Autonomous Dancing and Motion in Free-Standing Wavy Rings

Harnessing snapping, an instability phenomenon observed in nature (e.g., Venus flytraps), for autonomy has attracted growing interest in autonomous soft robots. However, achieving self-sustained snapping and snapping-driven autonomous motions in soft robots remains largely unexplored. Here, harnessing bistable, ribbon ring-like structures for realizing self-sustained snapping in a library of soft liquid-crystal elastomer wavy rings under constant thermal and photothermal actuation are reported. The self-sustained snapping induces continuous ring flipping that drives autonomous dancing or crawling motions on the ground and underwater. The 3D, free-standing wavy rings employ either a highly symmetric or symmetry-broken twisted shape with tunable geometric asymmetries. It is found that the former favors periodic self-dancing motion in place due to isotropic friction, while the latter shows a directional crawling motion along the predefined axis of symmetry during fabrication due to asymmetric friction. It shows that the crawling speed can be tuned by the geometric asymmetries with a peak speed achieved at the highest geometric asymmetry. Lastly, it is shown that the autonomous crawling ring can also adapt its body shape to pass through a confined space that is over 30% narrower than its body size.

Self-Oscillating Curling of a Liquid Crystal Elastomer Beam under Steady Light

Self-oscillation absorbs energy from a steady environment to maintain its own continuous motion, eliminating the need to carry a power supply and controller, which will make the system more lightweight and promising for applications in energy harvesting, soft robotics, and microdevices. In this paper, we present a self-oscillating curling liquid crystal elastomer (LCE) beam-mass system, which is placed on a table and can self-oscillate under steady light. Unlike other self-sustaining systems, the contact surface of the LCE beam with the tabletop exhibits a continuous change in size during self-sustaining curling, resulting in a dynamic boundary problem. Based on the dynamic LCE model, we establish a nonlinear dynamic model of the self-oscillating curling LCE beam considering the dynamic boundary conditions, and numerically calculate its dynamic behavior using the Runge-Kutta method. The existence of two motion patterns in the LCE beam-mass system under steady light are proven by numerical calculation, namely self-curling pattern and stationary pattern. When the energy input to the system exceeds the energy dissipated by air damping, the LCE beam undergoes self-oscillating curling. Furthermore, we investigate the effects of different dimensionless parameters on the critical conditions, the amplitude and the period of the self-curling of LCE beam. Results demonstrate that the light source height, curvature coefficient, light intensity, elastic modulus, damping factor, and gravitational acceleration can modulate the self-curling amplitude and period. The self-curling LCE beam system proposed in this study can be applied to autonomous robots, energy harvesters, and micro-instruments.

Self-Sustained Euler Buckling of an Optically Responsive Rod with Different Boundary Constraints

Self-sustained oscillations can directly absorb energy from the constant environment to maintain its periodic motion by self-regulating. As a classical mechanical instability phenomenon, the Euler compression rod can rapidly release elastic strain energy and undergo large displacement during buckling. In addition, its boundary configuration is usually easy to be modulated. In this paper, we develop a self-sustained Euler buckling system based on optically responsive liquid crystal elastomer (LCE) rod with different boundary constraints. The buckling of LCE rod results from the light-induced expansion and compressive force, and the self-buckling is maintained by the energy competition between the damping dissipation and the net work done by the effective elastic force. Based on the dynamic LCE model, the governing equations for dynamic Euler buckling of the LCE rod is formulated, and the approximate admissible trigonometric functions and Runge-Kutta method are used to solve the dynamic Euler buckling. Under different illumination parameters, there exists two motion modes of the Euler rod: the static mode and the self-buckling mode, including alternating and unilateral self-buckling modes. The triggering conditions, frequency, and amplitude of the self-sustained Euler buckling can be modulated by several system parameters and boundary constraints. Results indicate that strengthening the boundary constraint can increase the frequency and reduce the amplitude. It is anticipated that this system may open new avenues for energy harvesters, signal sensors, mechano-logistic devices, and autonomous robots.

Multi-Modal Locomotion of Caenorhabditis elegans by Magnetic Reconfiguration of 3D Microtopography

Miniaturized untethered soft robots are recently exploited to imitate multi-modal curvilinear locomotion of living creatures that perceive change of surrounding environments. Herein, the use of Caenorhabditis elegans (C. elegans) is proposed as a microscale model capable of curvilinear locomotion with mechanosensing, controlled by magnetically reconfigured 3D microtopography. Static entropic microbarriers prevent C. elegans from randomly swimming with the omega turns and provide linear translational locomotion with velocity of ≈0.14 BL s-1 . This velocity varies from ≈0.09 (for circumventing movement) to ≈0.46 (for climbing) BL s-1 , depending on magnetic bending and twisting actuation coupled with assembly of microbarriers. Furthermore, different types of neuronal mutants prevent C. elegans from implementing certain locomotion modes, indicating the potential for investigating the correlation between neurons and mechanosensing functions. This strategy promotes a platform for the contactless manipulation of miniaturized biobots and initiates interdisciplinary research for investigating sensory neurons and human diseases.

Light-induced swirling and locomotion

The design of remotely activated, untethered devices without onboard power is a continuing challenge in soft robotics. This work describes a method of generating a whirling motion in pre-stressed photomechanical liquid crystal elastomer fibres using steady illumination that can be exploited for propulsion and mixing. Photomechanical liquid crystal elastomers (LCEs) can convert light directly into mechanical deformation, making them attractive candidates for soft actuators capable of remote and multi-mode actuation. We propose a three-dimensional multi-scale model of the nonlinear and non-local dynamics of fibres of photomechanical LCEs under illumination. We use the model to show that pre-stressed helix-like fibres immersed in a fluid can undergo a periodic whirling motion under steady illumination. We analyse the photo-driven spatio-temporal pattern and stability of the whirling deformation, and provide a parametric study. Unlike previous work on photo-driven periodic motion, this whirling motion does not exploit instabilities in the form of snap-through phenomena, or unilateral constraints as in rolling. More broadly, our work provides an unusual example of a physical system capable of periodic motion under steady stimulus that does not exploit instabilities. We finally show that such motion can be exploited in developing remote controlled bioinspired microswimmers and novel micromixers.

Amplifying Molecular Scale Rotary Motion: The Marriage of Overcrowded Alkene Molecular Motor with Liquid Crystals

Design and fabrication of macroscopic functional devices by molecular engineering is an emerging and effective strategy in exploration of advanced materials. Photoresponsive overcrowded alkene-based molecular motor (OAMM) is considered as one of the most promising molecular machines due to the unique rotary motion driven by light with high temporal and spatial precision. Amplifying the molecular rotary motions into macroscopic behaviors of photodirected systems links the molecular dynamics with macroscopic motions of materials, providing new opportunities to design novel materials and devices with a bottom-up strategy. In this review, recent developments of the light-responsive liquid crystal system triggered by OAMM will be summarized. The mechanism of amplification effect of liquid crystal matrix will be introduced first. Then progress of the OAMM-driven liquid crystal materials will be described including light-controlled photonic crystals, texture-tunable liquid crystal coating and microspheres, photoactuated soft robots, and dynamic optical devices. It is hoped that this review provides inspirations in design and exploration of light-driven soft matters and novel functional materials from molecular engineering to structural modification.

Confinement-Induced Fabrication of Liquid Crystalline Polymeric Fibers

In aqueous media, liquid crystalline droplets typically form spherical shapes in order to minimize surface energy. Recently, non-spherical geometry has been reported using molecular self-assembly of surfactant-stabilized liquid crystalline oligomers, resulting in branched and randomly oriented filamentous networks. In this study, we report a polymerization of liquid crystalline polymeric fibers within a micro-mold. When liquid crystal oligomers are polymerized in freely suspended aqueous media, curvilinear and randomly networked filaments are obtained. When reactive liquid crystalline monomers are oligomerized in a micro-channel, however, highly aligned linear fibers are polymerized. Within a top-down microfabricated mold, a bottom-up molecular assembly was successfully achieved in a controlled manner by micro-confinement, suggesting a unique opportunity for the programming architecture of materials via a hybrid approach.

New tricks and emerging applications from contemporary azobenzene research

Azobenzenes have many faces. They are well-known as dyes, but most of all, azobenzenes are versatile photoswitchable molecules with powerful photochemical properties. Azobenzene photochemistry has been extensively studied for decades, but only relatively recently research has taken a steer towards applications, ranging from photonics and robotics to photobiology. In this perspective, after an overview of the recent trends in the molecular design of azobenzenes, we highlight three research areas where the azobenzene photoswitches may bring about promising technological innovations: chemical sensing, organic transistors, and cell signaling. Ingenious molecular designs have enabled versatile control of azobenzene photochemical properties, which has in turn facilitated the development of chemical sensors and photoswitchable organic transistors. Finally, the power of azobenzenes in biology is exemplified by vision restoration and photactivation of neural signaling. Although the selected examples reveal only some of the faces of azobenzenes, we expect the fields presented to develop rapidly in the near future, and that azobenzenes will play a central role in this development.

Advanced Functional Liquid Crystals

Liquid crystals have been intensively studied as functional materials. Recently, integration of various disciplines has led to new directions in the design of functional liquid-crystalline materials in the fields of energy, water, photonics, actuation, sensing, and biotechnology. Here, recent advances in functional liquid crystals based on polymers, supramolecular complexes, gels, colloids, and inorganic-based hybrids are reviewed, from design strategies to functionalization of these materials and interfaces. New insights into liquid crystals provided by significant progress in advanced measurements and computational simulations, which enhance new design and functionalization of liquid-crystalline materials, are also discussed.

Twisting for soft intelligent autonomous robot in unstructured environments

SignificanceAutonomy is crucial for soft robotics that are constructed of soft materials. It remains challenging to create autonomous soft robots that can intelligently interact with and adapt to changing environments without external controls. To do so, it often requires an analogical soft "brain" that integrates on-board sensing, control, computation, and decision-making. Here, we report an autonomous soft robot embodied with physical intelligence for decision-making via adaptive soft body-environment interactions and snap-through instability, without integrated sensing and external controls. This study harnesses physical intelligence as a new paradigm for designing autonomous soft robots that can interact intelligently with their environments, thus potentially reducing the burdens on the conventional integrated sensing, control, computations, and decision-making systems in designing intelligent soft robots.

Phototriggered Complex Motion by Programmable Construction of Light-Driven Molecular Motors in Liquid Crystal Networks

Recent developments in artificial molecular machines have enabled precisely controlled molecular motion, which allows several distinct mechanical operations at the nanoscale. However, harnessing and amplifying molecular motion along multiple length scales to induce macroscopic motion are still major challenges and comprise an important next step toward future actuators and soft robotics. The key to addressing this challenge relies on effective integration of synthetic molecular machines in a hierarchically aligned structure so numerous individual molecular motions can be collected in a cooperative way and amplified to higher length scales and eventually lead to macroscopic motion. Here, we report the complex motion of liquid crystal networks embedded with molecular motors triggered by single-wavelength illumination. By design, both racemic and enantiomerically pure molecular motors are programmably integrated into liquid crystal networks with a defined orientation. The motors have multiple functions acting as cross-linkers, actuators, and chiral dopants inside the network. The collective rotary motion of motors resulted in multiple types of motion of the polymeric film, including bending, wavy motion, fast unidirectional movement on surfaces, and synchronized helical motion with different handedness, paving the way for the future design of responsive materials with enhanced complex functions.

Heat-Mediated Optical Manipulation

Progress in optical manipulation has stimulated remarkable advances in a wide range of fields, including materials science, robotics, medical engineering, and nanotechnology. This Review focuses on an emerging class of optical manipulation techniques, termed heat-mediated optical manipulation. In comparison to conventional optical tweezers that rely on a tightly focused laser beam to trap objects, heat-mediated optical manipulation techniques exploit tailorable optothermo-matter interactions and rich mass transport dynamics to enable versatile control of matter of various compositions, shapes, and sizes. In addition to conventional tweezing, more distinct manipulation modes, including optothermal pulling, nudging, rotating, swimming, oscillating, and walking, have been demonstrated to enhance the functionalities using simple and low-power optics. We start with an introduction to basic physics involved in heat-mediated optical manipulation, highlighting major working mechanisms underpinning a variety of manipulation techniques. Next, we categorize the heat-mediated optical manipulation techniques based on different working mechanisms and discuss working modes, capabilities, and applications for each technique. We conclude this Review with our outlook on current challenges and future opportunities in this rapidly evolving field of heat-mediated optical manipulation.

Physics-Informed Modeling and Control of Multi-Actuator Soft Catheter Robots

Catheter-based endovascular interventional procedures have become increasingly popular in recent years as they are less invasive and patients spend less time in the hospital with less recovery time and less pain. These advantages have led to a significant growth in the number of procedures that are performed annually. However, it is still challenging to position a catheter in a target vessel branch within the highly complicated and delicate vascular structure. In fact, vessel tortuosity and angulation, which cause difficulties in catheterization and reaching the target site, have been reported as the main causes of failure in endovascular procedures. Maneuverability of a catheter for intravascular navigation is a key to reaching the target area; ability of a catheter to move within the target vessel during trajectory tracking thus affects to a great extent the length and success of the procedure. To address this issue, this paper models soft catheter robots with multiple actuators and provides a time-dependent model for characterizing the dynamics of multi-actuator soft catheter robots. Built on this model, an efficient and scalable optimization-based framework is developed for guiding the catheter to pass through arteries and reach the target where an aneurysm is located. The proposed framework models the deflection of the multi-actuator soft catheter robot and develops a control strategy for movement of catheter along a desired trajectory. This provides a simulation-based framework for selection of catheters prior to endovascular catheterization procedures, assuring that given a fixed design, the catheter is able to reach the target location. The results demonstrate the benefits that can be achieved by design and control of catheters with multiple number of actuators for navigation into small vessels.

Porous Liquid Crystalline Networks with Hydrogel-Like Actuation and Reconfigurable Function

A porous liquid crystalline network (LCN), prepared using a template method, was found to exhibit peculiar actuation functions. The creation of porosity makes the initially hydrophobic LCN behave like a hydrogel, capable of absorbing a large volume of water (up to ten times the sample size of LCN). When the amount of absorbed water is relatively small (about 100% swelling ratio), the porous LCN displays anisotropic swelling in water and, in the same time, the retained uniaxial alignment of mesogens ensures thermally induced shape change associated with LC-isotropic phase transition. Combining the characteristic actuation mechanisms of LCN (order-disorder transition of mesogens) and hydrogel (water absorption), such porous LCN can be explored for versatile stimuli-triggered shape transformations. Moreover, the porosity enables loading/removal/reloading of functional fillers such as ionic liquid, photothermal dye and fluorophore, which imparts a same porous LCN actuator with reconfigurable functions such as ionic conductivity, light-driven locomotion, and emissive color.

Patterned Electrode Assisted One-Step Fabrication of Biomimetic Morphing Hydrogels with Sophisticated Anisotropic Structures

Anisotropic structures are ubiquitous in nature, affording fascinating morphing behaviors. Biomimetic morphing materials can be developed by spatially controlling the orientations of molecules or nanofillers that produce anisotropic responses and internal stresses under external stimuli. However, it remains a serious challenge to fabricate materials with sophisticated anisotropic architectures. Here, a facile strategy to fabricate morphing hydrogels with elaborately ordered structures of nanosheets, which are oriented under distributed electric field and immobilized by polymerization to form a poly(N-isopropylacrylamide) matrix, is proposed. Diverse sophisticated anisotropic structures are obtained by engineering the electric field through the patterns and relative locations of the electrodes. Upon heating, the monolithic hydrogels with through-thickness and/or in-plane gradients in orientation of the nanosheets deform into various three-dimensional configurations. After incorporating gold nanoparticles, the hydrogels become photoresponsive and capable of programmable motions, for example, dynamic twisting and flipping under spatiotemporal stimuli. Such a strategy of using patterned electrodes to generate distributed electric field should be applicable to systems of liquid crystals or charged particles/molecules to direct orientation or electrophoresis and form functional structures. The biomimetically architectured hydrogels would be ideal materials to develop artificial muscles, soft actuators/robots, and biomedical devices with versatile applications.

Intermolecular Interactions and Intramolecular Motions in Photomechanical Effect: Nonlinear Thermo- and Photomechanical Behaviors of Azobenzene-Functionalized Amide-Imide Block Copolymers

To discern multiple intertwined effects, a set of azobenzene-functionalized amide-imide block copolymers, azo(PA-co-PI)-x, where x is amide-block content, viz., [azoPA] = 25, 50, 75 mol %, was synthesized from 2,2-bis{4-[4-(4-aminophenyldiazenyl)phenoxy]phenyl}propane(azoBPA), 4,4'-oxydibenzoyl chloride (ODBC), and 4,4'-oxydiphthalic anhydride (OPDA). Including homopolymers (azoPA and azoPI), this series of amorphous azopolymers possesses a high glass-transition temperature (T_g > 210 °C) and a modulus (E' ∼ 1.23-2.50 GPa). Their photobending (ca. 23-90°) and photostress (ca. 250-380 kPa) were assessed in the form of cantilevers with a linearly polarized 445 nm light. Nonlinear composition/[azoPA] dependencies of the thermo- and photomechanical properties are correlated. As [azoPA] increases from 0 mol %; T_g, E', photostress, and photobending angle initially decrease to reach four separate minima for azo(PA-co-PI)-50; and then all increase with a higher [azoPA]. The trend considerations of film density, dynamic thermomechanical, Fourier transform infrared (FT-IR), and ultraviolet-visible (UV-vis) measurements implicate that (i) intermolecular association and intramolecular segmental mobility collectively influence the photomechanical outcomes and (ii) two types of hydrogen bonding (HB), namely, amide-amide [HB-AA] and amide-imide [HB-AI] coexist in azo(PA-co-PI)-x copolymers, with [HB-AI] being largely responsible for photomechanical outcomes of azo(PA-co-PI)-x with [azoPA] <40-50 mol %, and [HB-AA] for [azoPA] >40-50 mol %. We hypothesize that the "U-shaped" photomechanical effect apparently stems from the cooperative "unzipping" of H bonds in the [HB-AA]* excited state with H bonds in [HB-AI]* being stabilized by electrostatic interactions inherent in an excited intermolecular complex.

Numerical analysis and design of a light-driven liquid crystal polymer-based motorless miniature cart

Liquid crystal polymers are a special class of soft materials that can change their shape in response to numerous stimuli such as light, heat, electric field, and chemicals. The ability to tailor the deformed shape by tuning the alignment of mesogens across the film has enabled the researchers to generate unique motions from these liquid crystal polymer thin films. Simulating such motions might allow us to understand the underlying mechanisms better and could lead to novel designs. In this paper, we analyze the kinematics of the light-driven rolling motion of wheels fabricated with azobenzene-doped glassy liquid crystal networks through a one-way coupled transient photo-mechanical model. The influence of the isomerization parameters and the alignment of mesogens through the thickness on the kinematics of the wheel is presented. The developed model is further used to assess the feasibility of a light-actuated four-wheeled cart with wheels made of azobenzene-doped liquid crystal network thin films.

Chiral Liquid Crystalline Elastomer for Twisting Motion without Preset Alignment of Mesogens

A chiral liquid crystalline elastomer (CLCE) actuator is demonstrated. The solution-cast polydomain film of CLCE can twist upon order-disorder phase transition without any preset alignment of mesogens. The handedness of twisting is specific to the molecular chirality of the chiral dopant in the CLCE structure, while the degree of twisting, in terms of helical pitch and diameter, is sensitive to the aspect ratio and the thickness of the CLCE strip as well as the chiral dopant content. This phenomenon appears to stem from the local twisting forces and deformations of randomly oriented helical domains, which cannot cancel each other out due to the chirality and thus result in a macroscopic "chiral" force acting on the CLCE actuator. This finding reveals a materials design for preparing twisting LCE actuators.

Light-Driven Crystal-Polymer Hybrid Actuators

Recently, soft robots, which are made of soft and light organic materials, have attracted much attention because of improved safety for daily interactions with humans. Mechanically responsive materials that can move macroscopically by external stimuli, such as light and heat, have been studied extensively over the past two decades, and they are expected to be applicable to soft robots. Among them, mechanically responsive crystals are attractive in terms of a larger Young’s modulus and faster response speed compared with polymers and gels. However, it is impractical to use one piece of a single crystal as a crystal machine; it is difficult to control the size of crystals and obtain large crystals. Hybridization of crystals with polymers is one way to create actuators with more realistic movements. Herein, we report a hybrid crystal assembly in which plate-like salicylideneaniline crystals are aligned in polymer films by a “rubbing” technique, a new approach which is inexpensive, easy, and applicable to a wide range of crystals and polymers. The hybrid films bent reversibly upon alternate irradiation with ultraviolet and visible light. The hybrid films bent as fast as single crystals, even when larger than single-crystal size, showing great mechanical performance originating from the advantages of both molecular crystals (fast response time) and polymers (large size). This work enriches the development of light-driven hybrid actuators composed of molecular crystals and polymers.

Locomotion of Miniature Soft Robots

Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro- to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits as it enables them to easily access highly confined and enclosed spaces via a noninvasive manner. If miniature soft robots are able to capitalize this unique ability, they will have the potential to transform a vast range of applications, including but not limited to, minimally invasive medical treatments, lab-on-chip applications, and search-and-rescue missions. The gaits of miniature soft robots are categorized into terrestrial, aquatic, and aerial locomotion. Except for the centimeter-scale robots that can perform aerial locomotion, the discussions in this report are centered around soft robots that are in the micro- to millimeter length scales. Under each category of locomotion, prospective methods and strategies that can improve their gait performances are also discussed. This report provides critical analyses and discussions that can inspire future strategies to make miniature soft robots significantly more agile.

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human-Robot Interface

Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actuators and their performances under various external stimuli are reviewed. Fiber/yarn-based artificial muscles for soft-robots manipulation and assistance in human motion are discussed, as well as smart clothes for improving human perception. Second, the geometric designs, fabrications, mechanisms, and functions of fibers/fabrics for sensing and energy harvesting from the human body and environments are summarized. Effective integration between the electronic components with garments, human skin, and living organisms is illustrated, presenting multifunctional platforms with self-powered potential for human-robot interactions and biomedicine. Lastly, the relationships between robotic/wearable fibers/fabrics and the external stimuli, together with the challenges and possible routes for revolutionizing the robotic fibers/fabrics and wearables in this new era are proposed.

Self-sustained eversion or inversion of a thermally responsive torus

When a cylindrical rod is placed on a flat and hot surface with a constant temperature, it can reach a steady state after certain time. In the steady state, though the temperature field inside the rod is inhomogeneous, it does not change with time. The inhomogeneous temperature change in the rod may induce inhomogeneous thermal expansion in it. Recent experiments have determined that if the rod is slightly curved, the inhomogeneous thermal expansion in the rod can drive its continuous and self-sustained rolling on a hot surface. It has been further shown that if the rod is bent to a closed torus and placed on a hot surface, the torus everts or inverts continuously due to the cross-coupling between the thermal field and the cyclic rotation. Such cyclic eversion or inversion of a torus can be regarded as a zero-elastic-energy mode because both the elastic energy and the shape of the torus remain unchanged during the rotation. In this article, we develop a coupled mechanics theory to model the continuous self-sustained eversion or inversion of a viscoelastic torus on a hot surface. We hope our modeling will inspire more novel designs of elastic motors being capable of zero-energy mode motion and help to quantitatively predict their performance.

Torque-dense photomechanical actuation

Contactless actuation powered using light is shown to generate torque densities approaching 10 N m kg-1 at angular velocities ∼102 rad s-1: metrics that compare favorably against tethered electromechanical systems. This is possible even though the extinction of actinic light limits the characteristic thickness of photoresponse in polymers to tens of μm. Confinement of molecularly patterned developable shells fabricated from azobenzene-functionalized liquid crystalline polymers encodes torque-dense photoactuation. Photostrain gradients from unstructured irradiation segment this geometry into two oppositely curved regions connected by a curved crease. A monolithic curved shell spontaneously bifurcates into a jointed, arm-like mechanism that generates flexure over sweep angles exceeding a radian. Strain focusing at the crease is hierarchical: an integral crease nucleates at smaller magnitudes of the prebiased curvature, while a crease decorated with point-like defects emerges at larger curvatures. The phase-space of morphogenesis is traceable to the competition between stretch and bending energies and is parameterizable as a function of the geometry. The framework for generating repetitive torque-dense actuation from slender light-powered actuators holds broader implications for the design of soft, remotely operated machines. Here, it is harnessed in illustrative mechanisms including levers, lifters and grabbers that are powered and regulated exclusively using light.

Light-Powered Autonomous Flagella-Like Motion of Molecular Crystal Microwires

The ability to exhibit life-like oscillatory motion fueled by light represents a new capability for stimuli-responsive materials. Although this capability has been demonstrated in soft materials like polymers, it has never been observed in molecular crystals, which are not generally regarded as dynamic objects. In this work, it is shown that molecular crystalline microwires composed of (Z)-2-(3-(anthracen-9-yl)allylidene)malononitrile ((Z)-DVAM) can be continuously actuated when exposed to a combination of ultraviolet and visible light. The photo-induced motion mimics the oscillatory behavior of biological flagella and enables propagation of microwires across a surface and through liquids, with translational speeds up to 7 μm s^-1 . This is the first example of molecular crystals that show complex oscillatory behavior under continuous irradiation. A model that relates the rotation of the transition dipole moment between reversible E→Z photoisomerization to the microscopic torque can qualitatively reproduce how the rotational frequency depends on light intensity and polarization.