Mechanical adaptability of artificial muscles from nanoscale molecular action

Development of an Azobenzene-Based Cell Culture Photoresponsive Platform for In Situ Modulation of Surface Topography in Wet Environments

Azopolymers are light-responsive materials that hold promise to transform in vitro cell culture systems. Through precise light illumination, they facilitate substrate pattern formation and erasure, allowing for the dynamic control and creation of active interfaces between cells and materials. However, these materials exhibit a tendency to locally detach from the supporting glass in the presence of aqueous solutions, such as cell culture media, due to the formation of blisters, which are liquid-filled cavities generated at the azopolymer film-glass interface. These blisters impede precise structurization of the surface of the azomaterial, limiting their usage for surface photoactivation in the presence of cells. In this study, we present a cost-effective and easily implementable method to improve the azopolymer-glass interface stability through silane functionalization of the glass substrate. This method proved to be efficient in preventing blister formation, thereby enabling the dynamic modulation of the azopolymer surface in situ for live-cell experiments. Furthermore, we proved that the light-illumination conditions used to induce azopolymer surface variations do not induce phototoxic effects. Consequently, this approach facilitates the development of a photoswitchable azopolymer cell culture platform for studying the impact of multiple in situ inscription and erasure cycles on cell functions while maintaining a physiological wet microenvironment.

Molecular Motors' Magic Methyl and Its Pivotal Influence on Rotation

Molecular motors have found a wide range of applications, powering a transition from molecules to dynamic molecular systems for which their motion must be precisely tuned. To achieve this adjustment, strategies involving laborious changes in their design are often used. Herein, we show that control over a single methyl group allows a drastic change in rotational properties. In this regard, we present the straightforward asymmetric synthesis of β-methylated first-generation overcrowded-alkene-based molecular motors. Both enantiomers of the new motors were prepared in good yields and high enantiopurities, and these motors were thoroughly studied by variable-temperature nuclear magnetic resonance (VT-NMR), ultraviolet-visible (UV-vis), and circular dichroism (CD) spectroscopy, showing a crucial influence of the methylation pattern on the rotational behavior of the motors. Starting from a common chiral precursor, we demonstrate that subsequent methylation can drastically reduce the speed of the motor and reverse the direction of the rotation. We show for the first time that complete unidirectionality can be achieved even when the energy difference between the stable and metastable states is small, resulting in the coexistence of both states under ambient conditions without hampering the energy ratcheting process. This discovery opens the way for the design of more advanced first-generation motors.

A Scanning Tunneling Microscopy Study of the Photoisomerization of Diazocine

Azobenzenes are fascinating molecular machines that can reversibly transform between two isomeric forms by an external stimulus. Diazocine, a type of bridged azobenzene, has been shown to possess enhanced photoexcitation properties. Due to the distortion caused by the ethyl bridge in the E-isomer, the Z-form becomes the thermodynamically stable configuration. Despite a comprehensive understanding of its photophysical properties, there is still much to learn about the behavior of diazocine on a metal surface. Here we show the operando photoswitching of diazocine molecules deposited directly on a Au(111) surface using scanning tunneling microscopy. Molecules were shown to aggregate into disordered islands with edge sites being susceptible to photon-induced movement. A few molecules were shown to undergo directional movement under UV irradiation with the motion reversed under blue light exposure. These findings contribute new insight into the activity of single and ensemble molecular systems toward purposefully guided motion.

Photoresponsive Viscoelasticity of the Granular Materials of Azobenzene-Bearing Molecular Nanoparticles

The large sizes of granular particles lead to their slow diffusive dynamics and significant interparticle friction, bringing enormous difficulty to tune the mechanical properties and processability of the granular materials (GMs). Herein, 1 nm polyhedral oligomeric silsesquioxane (POSS) particles functionalized with azobenzene are designed as structural units, and the obtained GMs show unique photoswitchable viscoelasticity. The azobenzene group can undergo a reversible trans-cis conformation switch while the π-π stacking among the azobenzene fragments is only favored by the trans-conformation due to molecular geometrical requirements. The POSS units from neighboring assemblies close pack to form microdomains, and the POSS is under confinement by both the supramolecular bonding and the other POSS in the microdomains. The simultaneous breaking of the two types of confinement is difficult and, therefore, the free diffusion of POSS is hindered, leading to the elasticity of the GMs of trans-POSS. For cis-POSS, the interparticle supramolecular interaction is weak and the POSS unit can undergo free diffusion, contributing to their high flowability at room temperature. The photoswitching viscoelasticity of GMs is further used for self-healing and photoswitchable adhesion. This work paves new pathways for the regulation of material viscoelasticity and the design of GM-based smart materials.

Optical deformations of azobenzene polymers: orientation approach vs. other concepts

It has been 30 years since the discovery of surface restructuring in thin azopolymer films by two independent research groups. A wide variety of topographical structures have been created by the application of two-/four-beam interference patterns, space light modulators and even helical beams. There are a number of comprehensive reviews which describe in detail the advances in superficial photopatterning of azopolymer films and macroscopic deformations of azonetworks. The theoretical approaches are only briefly touched on in these reviews and often are accompanied by the remark that the phenomenon is far from being understood. In this review, we would like to present the polymer theoretist's point of view on this intriguing problem. We begin by describing a multitude of theoretical approaches and commenting on the pluses and drawbacks of each. Importantly, we show that in most cases the presence of an azopolymer matrix is either ignored or limited to a specific class of azopolymers (liquid-crystalline or elastomeric). We then move to early orientation approaches based on the hypothesis that reorientation of azo-chromophores by modulated polarized light is the sole cause of superficial patterning. At the end of the review a modern orientation approach, as proposed by our own group, is presented. This approach has high predictive power because it can explain a large pool of experimental data for different classes of azopolymers including glassy and liquid-crystalline materials. This is made possible by taking into account both the light-induced orientation process and the change of anisotropic interactions between the chromophores upon their isomerization. Last but not least, this is the only approach that provides an estimate of the light-induced stress large enough to cause plastic deformations of glassy azopolymers. Recent finite element modeling results show remarkable similarity to real patterns and even time-dependent data are well explained. With this, we claim that the puzzle is finally understood and the orientation approach is ready for its implementation for major azopolymer classes.

Self-sustainable autonomous soft actuators

Self-sustainable autonomous locomotion is a non-equilibrium phenomenon and an advanced intelligence of soft-bodied organisms that exhibit the abilities of perception, feedback, decision-making, and self-sustainment. However, artificial self-sustaining architectures are often derived from algorithms and onboard modules of soft robots, resulting in complex fabrication, limited mobility, and low sensitivity. Self-sustainable autonomous soft actuators have emerged as naturally evolving systems that do not require human intervention. With shape-morphing materials integrating in their structural design, soft actuators can direct autonomous responses to complex environmental changes and achieve robust self-sustaining motions under sustained stimulation. This perspective article discusses the recent advances in self-sustainable autonomous soft actuators. Specifically, shape-morphing materials, motion characteristics, built-in negative feedback loops, and constant stimulus response patterns used in autonomous systems are summarized. Artificial self-sustaining autonomous concepts, modes, and deformation-induced functional applications of soft actuators are described. The current challenges and future opportunities for self-sustainable actuation systems are also discussed.

Collective Molecular Machines: Multidimensionality and Reconfigurability

Molecular machines are key to cellular activity where they are involved in converting chemical and light energy into efficient mechanical work. During the last 60 years, designing molecular structures capable of generating unidirectional mechanical motion at the nanoscale has been the topic of intense research. Effective progress has been made, attributed to advances in various fields such as supramolecular chemistry, biology and nanotechnology, and informatics. However, individual molecular machines are only capable of producing nanometer work and generally have only a single functionality. In order to address these problems, collective behaviors realized by integrating several or more of these individual mechanical units in space and time have become a new paradigm. In this review, we comprehensively discuss recent developments in the collective behaviors of molecular machines. In particular, collective behavior is divided into two paradigms. One is the appropriate integration of molecular machines to efficiently amplify molecular motions and deformations to construct novel functional materials. The other is the construction of swarming modes at the supramolecular level to perform nanoscale or microscale operations. We discuss design strategies for both modes and focus on the modulation of features and properties. Subsequently, in order to address existing challenges, the idea of transferring experience gained in the field of micro/nano robotics is presented, offering prospects for future developments in the collective behavior of molecular machines.

Shape programming of liquid crystal elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials that demonstrate reversible actuation when exposed to external stimuli, such as light or heat. The actuation's complexity depends heavily on the instilled liquid crystal alignment, programmed into the material using various shape-programming processes. As an unavoidable part of LCE synthesis, these also introduce geometrical and output restrictions that dictate the final applicability. Considering LCE's future implementation in real-life applications, it is reasonable to explore these limiting factors. This review offers a brief overview of current shape-programming methods in relation to the challenges of employing LCEs as soft, shape-memory components in future devices.

Bioinspired Stimuli-Responsive Materials for Soft Actuators

Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.

Mutable Collagenous Tissue: A Concept Generator for Biomimetic Materials and Devices

Echinoderms (starfish, sea-urchins and their close relations) possess a unique type of collagenous tissue that is innervated by the motor nervous system and whose mechanical properties, such as tensile strength and elastic stiffness, can be altered in a time frame of seconds. Intensive research on echinoderm 'mutable collagenous tissue' (MCT) began over 50 years ago, and over 20 years ago, MCT first inspired a biomimetic design. MCT, and sea-cucumber dermis in particular, is now a major source of ideas for the development of new mechanically adaptable materials and devices with applications in diverse areas including biomedical science, chemical engineering and robotics. In this review, after an up-to-date account of present knowledge of the structural, physiological and molecular adaptations of MCT and the mechanisms responsible for its variable tensile properties, we focus on MCT as a concept generator surveying biomimetic systems inspired by MCT biology, showing that these include both bio-derived developments (same function, analogous operating principles) and technology-derived developments (same function, different operating principles), and suggest a strategy for the further exploitation of this promising biological resource.

Breaking the photoswitch speed limit

The forthcoming generation of materials, including artificial muscles, recyclable and healable systems, photochromic heterogeneous catalysts, or tailorable supercapacitors, relies on the fundamental concept of rapid switching between two or more discrete forms in the solid state. Herein, we report a breakthrough in the "speed limit" of photochromic molecules on the example of sterically-demanding spiropyran derivatives through their integration within solvent-free confined space, allowing for engineering of the photoresponsive moiety environment and tailoring their photoisomerization rates. The presented conceptual approach realized through construction of the spiropyran environment results in ~1000 times switching enhancement even in the solid state compared to its behavior in solution, setting a record in the field of photochromic compounds. Moreover, integration of two distinct photochromic moieties in the same framework provided access to a dynamic range of rates as well as complementary switching in the material's optical profile, uncovering a previously inaccessible pathway for interstate rapid photoisomerization.

Light-driven peristaltic pumping by an actuating splay-bend strip

Despite spectacular progress in microfluidics, small-scale liquid manipulation, with few exceptions, is still driven by external pumps and controlled by large-scale valves, increasing cost and size and limiting complexity. By contrast, optofluidics uses light to power, control and monitor liquid manipulation, potentially allowing for small, self-contained microfluidic devices. Here we demonstrate a soft light-propelled actuator made of liquid crystal gel that pumps microlitre volumes of water. The strip of actuating material serves as both a pump and a channel leading to an extremely simple microfluidic architecture that is both powered and controlled by light. The performance of the pump is well explained by a simple theoretical model in which the light-induced bending of the actuator competes with the liquid's surface tension. The theory highlights that effective pumping requires a threshold light intensity and strip width. The proposed system explores the benefits of shifting the complexity of microfluidic systems from the fabricated device to spatio-temporal control over stimulating light patterns.

Precisely Controllable Artificial Muscle with Continuous Morphing based on "Breathing" of Supramolecular Columns

Skeletal muscles are natural motors executing sophisticated work through precise control of linear contraction. Although various liquid crystal polymers based artificial muscles have been designed, the mechanism based on mainly the order-disorder transition usually leads to discrete shape morphing, leaving arbitrary and precise deformation a huge challenge. Here, one novel photoresponsive hemiphasmidic side-chain liquid crystal polymer with a unique "breathing" columnar phase that enables continuous morphing is presented. Due to confinement inside the supramolecular columnar assembly, the cooperative movements of side-chains and backbones generate a significant negative thermal expansion and lead to temperature-controllable muscle-like elongation/contraction in the oriented polymer strip. The irreversible isomerization of the photoresponsive mesogens results in the synergistic phototunable bending and high-contrast fluorescence change. Based on the orthogonal responses to heat and light, controllable arm-like bending motions of this material, which is applicable in constructing advanced artificial muscles or intelligent soft robotics, are further demonstrated.

Viscoplastic Modeling of Surface Relief Grating Growth on Isotropic and Preoriented Azopolymer Films

We report on solving of two intriguing issues concerning the inscription of surface relief gratings within azopolymer thin films under irradiation with SS, PP and RL interference patterns. For this, we utilize the orientation approach and viscoplastic modeling in combination with experimental results, where the change in surface topography is acquired in situ during irradiation with modulated light. First, the initial orientation state of polymer backbones is proved to be responsible for the contradictory experimental reports on the efficiency of the SS interference pattern. Different orientation states can influence not only the phase of SS grating but also its height, which is experimentally confirmed by using special pretreatments. Second, the faster growth of gratings inscribed by the RL interference pattern is shown to be promoted by a weak photosoftening effect. Overall, the modeled results are in good agreement with the order of relative growth efficiency: RL-PP-SS.

Merging the Interfaces of Different Shape-Shifting Polymers Using Hybrid Exchange Reactions

Sophisticated shape-shifting structures and integration of advanced functions often call for different-chemistry-based polymers (such as epoxy and polyurethane) in a unified system. However, permanent cross-links pose crucial obstacles to be seamless. Here, merging interfaces via hybrid exchange reactions among different dynamic covalent bonds (including ester, urethane, thiourethane, boronic-ester, and oxime-ester linkages) is proposed, breaking the long-lasting restriction that these widely used bonds only undergo self-exchange reactions. Model compound studies are conducted to verify that hybrid exchange reactions occur. As demonstrations, different liquid crystal elastomers are tenaciously joined into coherent assemblies, with the desired biomimetic structures (e.g., flying fish containing stiff and flexible parts) and rare deformation modes (e.g., flower blooming upon both heating and cooling). Besides connecting polymers, hybrid exchange reactions also facilitate the creation of new materials through cross-fusion of different polymers. In addition to the polymers used in this work, hybrid exchange reactions can be adapted to other polymers based on similar mechanisms and beyond. Besides shape-shifting-related areas (e.g., soft robots, flexible electronics, and biomedical devices), it may also foster innovation in other fields involving general polymers, as well as promote deeper understanding of dynamic covalent chemistry.

Photo-Ordering and Deformation in Azobenzene-Containing Polymer Networks under Irradiation with Elliptically Polarized Light

Azobenzene-containing polymers (azo-polymers) have been a subject of extensive investigations during the last two and half decades, due to their remarkable ability to undergo pronounced alignment and deformation under irradiation with light. The molecular ordering and deformation in azo-polymers of various structures under irradiation with linearly polarized light was described in a series of theoretical works, based on the effect of the reorientation of azobenzene moieties due to the anisotropic character of the photoisomerization processes. In the present study, we generalize the previous orientation approach to describe the photo-alignment and deformation of azo-polymer networks under irradiation with elliptically polarized light. We demonstrate that, in general, the light-induced ordering and deformation have a biaxial symmetry defined by the polarization ellipse. Azobenzene chromophores have a tendency to align along the direction of light propagation, the orientation in the other two directions being dependent of the aspect ratio of the polarization ellipse. This causes deformation of azo-polymer networks along the direction of light propagation, the sign of which (expansion/contraction) is defined by a chemical structure of network strands. Theoretical results are in agreement with experiments and have a practical importance to predict the photo-mechanical response of azo-polymers depending on their structure and on the polarization of light.

Run-and-halt motility of droplets in response to light

Microscopic motility is a property that emerges from systems of interacting molecules. Unraveling the mechanisms underlying such motion requires coupling the chemistry of molecules with physical processes that operate at larger length scales. Here, we show that photoactive micelles composed of molecular switches gate the autonomous motion of oil droplets in water. These micelles switch from large trans-micelles to smaller cis-micelles in response to light, and only the trans-micelles are effective fuel for the motion. Ultimately, it is this light that controls the movement of the droplets via the photochemistry of the molecules composing the micelles used as fuel. Notably, the droplets evolve positive photokinetic movement, and in patchy light environments, they preferentially move toward peripheral areas as a result of the difference in illumination conditions at the periphery. Our findings demonstrate that engineering the interplay between molecular photo-chemistry and microscopic motility allows designing motile systems rationally.

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Molecular photoswitches mediate the motility of droplets

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Photoactive micelles formed by molecular switches fuel droplet motion

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Photoactive micelles gate motility in response to light

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Droplets evolve motile patterns such as run-and-halt and photokinetic motion

From the swim of bacteria to the beat of a heart, macroscopic movement is a hallmark of life and is ultimately driven by molecular machines. Artificial molecular machines display sophisticated motion with the potential to be harnessed into the purposeful movement of compartments. However, our perception of macroscopic movement differs from the rules that govern movement at the molecular scale. Large-scale functional movement can only emerge when molecular chemistry is coupled to physical processes that operate at larger length scales. We show that the geometry of the amphiphilic switches (molecular level) determines the geometry of micelles (supramolecular level), which in turn determines whether droplet movement can emerge (ensemble level). Eventually, the droplets display motile patterns reminiscent of those of swimming cells. We conclude that molecular behavior can be related to droplet motility rationally, which is a prerequisite for the design of functional motile systems.

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.

Mechano-Nanoarchitectonics: Design and Function

Mechanical stimuli have rather ambiguous and less-specific features among various physical stimuli, but most materials exhibit a certain level of responses upon mechanical inputs. Unexplored sciences remain in mechanical responding systems as one of the frontiers of materials science. Nanoarchitectonics approaches for mechanically responding materials are discussed as mechano-nanoarchitectonics in this review article. Recent approaches on molecular and materials systems with mechanical response capabilities are first exemplified with two viewpoints: i) mechanical control of supramolecular assemblies and materials and ii) mechanical control and evaluation of atom/molecular level structures. In the following sections, special attentions on interfacial environments for mechano-nanoarchitectonics are emphasized. The section entitled iii) Mechanical Control of Molecular System at Dynamic Interface describes coupling of macroscopic mechanical forces and molecular-level phenomena. Delicate mechanical forces can be applied to functional molecules embedded at the air-water interface where operation of molecular machines and tuning of molecular receptors upon macroscopic mechanical actions are discussed. Finally, the important role of the interfacial media are further extended to the control of living cells as described in the section entitled iv) Mechanical Control of Biosystems. Pioneering approaches on cell fate regulations at liquid-liquid interfaces are discussed in addition to well-known mechanobiology.

Bio inspired general artificial muscle using hybrid of mixed electrolysis and fluids chemical reaction (HEFR)

One of the issues in the field of soft-robotic systems is that how to create a fast displacement mechanism which it operates close to nature. This paper presents a deep study of hybrid of mixed electrolysis and fluids chemical reaction (HEFR) method for general applications, considering contraction/expansion of a single/multiple (taped) soft bio-inspired actuators in various conditions and a practical instance of a moving wing mechanism. This research extends the recent study of corresponding author’s team (Zakeri and Zakeri, Deformable airfoil using hybrid of mixed integration electrolysis and fluids chemical reaction (HEFR) artificial muscle technique. Sci Rep 11:5497, 2021) that previous study concentrated on just single bio actuator in deformable airfoil. This work offers a general artificial muscle which it employs the hybrid of mixed electrolysis (electrolysis module with 10 mL capacity without any separation of materials such as O₂ or H₂), two fluids for chemical reaction (sodium bicarbonate (NaHCO3 (s)) and acetic acid (CH3COOH (l))) and also multilayer soft skin bags (40 × 30 mm). The analyzed parameters are amount of displacement (contraction/expansion) over time (response time), the ratio of output force to total weight and extremely low expense of manufacturing. The main results are as follows: the released energy from 1 mL sodium bicarbonate, 10 mL acetic acid and a 12 V electrolysis module have ability to give a response time less than 1 s (25 mm expansion and 4 mm contraction) with 12 W power consumption and also bio actuator can easily displace a 250 g object (total weight of components is almost 33 g). Also, it has been shown that the response time of mixed electrolysis in the proposed inactive solution (without any fresh chemical reaction) will be nine times to pure water. In the active solution (refresh chemical reaction), response time of HEFR will be accelerated 2.44 times to pure chemical reaction. By applying the multilayer soft skin bags or soft actuators (multi contraction and multi expansion model), a practical movable flapping wing has been presented which a full cycle of flapping would take 2 s. The proposed method has ability to show a quick response time, without making any noise, very low construction cost and practical for general and frequent uses.

Soft actuators for real-world applications

Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.

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

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

The Effect of Phenyl Content on the Liquid Crystal-Based Organosilicone Elastomers with Mechanical Adaptability

An elastomer with mechanical adaptability is a new kind of polymer material in which the increasing stress under continuous deformation is significantly inhibited in a large deformation area. Liquid crystal-based organosilicone elastomers, which can dissipate energy through reversible internal phase transition under external stimulation and have recoverable large deformation capacity, have drawn much interest as mechanical adaptability materials. However, there is no good way to control the mechanical adaptability at present. For this purpose, we prepared a new liquid crystal-based phenyl silicone rubber (LCMVPQ) using two-step click reactions and systematically explored the effect of phenyl content on its mechanical adaptability to achieve the regulation of mechanical adaptability. With an increase in phenyl content in the LCMVPQs, phenyl can hinder the rearrangement of the mesogenic units along the applied stress direction, which enables the adjustment of mechanical adaptability to meet the needs of different situations. In addition, the introduction of the liquid crystal phase impedes the internal friction of the molecular chain movement of the LCMVPQs and reduces the damping performance of silicone rubber. This research achieves the regulation of elastomers with mechanical adaptability and is expected to be applied in practical application fields.

High-Strength, Large-Deformation, Dual Cross-Linking Network Liquid Crystal Elastomers Based on Quadruple Hydrogen Bonds

Liquid crystal elastomers (LCEs) with large deformation under external stimuli have attracted extensive attention in various applications such as soft robotics, 4D printing, and biomedical devices. However, it is still a great challenge to reduce the damage to collimation and enhance the mechanical and actuation properties of LCEs simultaneously. Here, we construct a new method of a double cross-linking network structure to improve the mechanical properties of LCEs. The ureidopyrimidinone (UPy) group with quadruple hydrogen bonds was used as the physical cross-linking unit, and pentaerythritol tetra(3-mercaptopropionate) was used as the chemical cross-link. The LCEs showed a strong mechanical tensile strength of 8.5 MPa and excellent thermally induced deformation (50%). In addition, the introduction of quadruple hydrogen bonds endows self-healing ability to extend the service life of LCEs. This provides a generic strategy for the fabrication of high-strength LCEs, inspiring the development of actuators and artificial muscles.

Mechanoadaptive injectable hydrogel based on poly(γ-glutamic acid) and hyaluronic acid regulates fibroblast migration for wound healing

Injectable hydrogels have shown therapeutic effects on wound repair, but most of them exhibit poor mechanical strength. The impacts of stiff injectable hydrogels on cell behavior and wound healing remain unclear. Herein, an injectable hydrogel was developed based on thiolated poly(γ-glutamic acid) (γ-PGA-SH) and glycidyl methacrylate-conjuated oxidized hyaluronic acid (OHA-GMA). Thiol-methacrylate Michael chemistry-mediated post-stabilization and increase of polymer concentration were found to improve the mechanical strength of γ-PGA-SH/OHA-GMA hydrogel. Moreover, in vitro studies confirmed its biodegradability, biocompatibility, and self-healing property. Using the mechanically-tunable hydrogel, it further showed that fibroblasts migrated faster on the surface of stiffer hydrogel, but infiltrated slowly inside it compared with softer hydrogel. In animal experiments, the injectable hydrogel could promote wound healing by increasing collagen deposition and vascularization. In summary, γ-PGA-SH/OHA-GMA hydrogel is able to regulate migration and infiltration of fibroblasts by altering stiffness and offers effective in situ forming scaffolds towards skin tissue regeneration.

Multistage Reversible Tg Photomodulation and Hardening of Hydrazone-Containing Polymers

The glass transition temperature (T_g) of a series of polyacrylate- and polymethacrylate-based polymers having bistable hydrazone photoswitches as pendants increases upon photoisomerization. The ensuing photohardening of the polymeric network was corroborated using nanoindentation measurements. The bistability of the switch allowed us to lock-in and sustain multiple T_g values in the same polymeric material as a function of the hydrazone switch's Z/E isomer ratio, even at elevated temperatures.

Advances in Application of Azobenzene as a Trigger in Biomedicine: Molecular Design and Spontaneous Assembly

Azobenzene is a well-known derivative of stimulus-responsive molecular switches and has shown superior performance as a functional material in biomedical applications. The results of multiple studies have led to the development of light/hypoxia-responsive azobenzene for biomedical use. In recent years, long-wavelength-responsive azobenzene has been developed. Matching the longer wavelength absorption and hypoxia-response characteristics of the azobenzene switch unit to the bio-optical window results in a large and effective stimulus response. In addition, azobenzene has been used as a hypoxia-sensitive connector via biological cleavage under appropriate stimulus conditions. This has resulted in on/off state switching of properties such as pharmacology and fluorescence activity. Herein, recent advances in the design and fabrication of azobenzene as a trigger in biomedicine are summarized.

Chemical-mediated translocation in protocell-based microactuators

Artificial cell-like communities participate in diverse modes of chemical interaction but exhibit minimal interfacing with their local environment. Here we develop an interactive microsystem based on the immobilization of a population of enzyme-active semipermeable proteinosomes within a helical hydrogel filament to implement signal-induced movement. We attach large single-polynucleotide/peptide microcapsules at one or both ends of the helical protocell filament to produce free-standing soft microactuators that sense and process chemical signals to perform mechanical work. Different modes of translocation are achieved by synergistic or antagonistic enzyme reactions located within the helical connector or inside the attached microcapsule loads. Mounting the microactuators on a ratchet-like surface produces a directional push-pull movement. Our methodology opens up a route to protocell-based chemical systems capable of utilizing mechanical work and provides a step towards the engineering of soft microscale objects with increased levels of operational autonomy.

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.

Deformable airfoil using hybrid of mixed integration electrolysis and fluids chemical reaction (HEFR) artificial muscle technique

In this research, by inspiration of natural myosin motion in artificial muscle contraction, a new method for changing the thickness of an airfoil has been proposed by hybrid of mixed integration electrolysis module and chemical reaction (HEFR) of sodium bicarbonate (NaHCO3 (s)) and acetic acid (CH3COOH (l)). The mentioned method has the ability to create pressure in the fluid in a short time and fast transfer without delay due to the integration of the method in the fluid transfer tube to soft sealed skin. With soft sealed skin swelling and movement of solid skeletal structure, the force is transmitted to the desired mechanism. First, for a single of soft skin and solid structure, remarkable displacement over time in the various loading condition (by the inflation tester) has been investigated. It is shown that the proposed mechanism is capable of moving 246 g during 3 s with total mechanism weight of 10 g. In the following, the mechanism is developed into a symmetrical rhombus (set of soft skin-solid structure) with the ability to contract and expand to provide variable airfoil thickness. The proposed mechanism has the ability to move in the horizontal and vertical axis (expansion and contraction) in lower than 5 s by applying the HEFR technique. Such a mechanism is mounted on a symmetrical airfoil and has the ability to change the airfoil thickness with the appropriate response time. The proposed mechanism can be used in various industrial applications such as robotics.

Towards bio-inspired artificial muscle: a mechanism based on electro-osmotic flow simulated using dissipative particle dynamics

One of the unresolved issues in physiology is how exactly myosin moves in a filament as the smallest responsible organ for contracting of a natural muscle. In this research, inspired by nature, a model is presented consisting of DPD (dissipative particle dynamics) particles driven by electro-osmotic flow (EOF) in micro channel that a thin movable impermeable polymer membrane has been attached across channel width, thus momentum of fluid can directly transfer to myosin stem. At the first, by validation of electro-osmotic flow in micro channel in different conditions with accuracy of less than 10 percentage error compared to analytical results, the DPD results have been developed to displacement of an impermeable polymer membrane in EOF. It has been shown that by the presence of electric field of 250 V/m and Zeta potential − 25 mV and the dimensionless ratio of the channel width to the thickness of the electric double layer or kH = 8, about 15% displacement in 8 s time will be obtained compared to channel width. The influential parameters on the displacement of the polymer membrane from DPD particles in EOF such as changes in electric field, ion concentration, zeta potential effect, polymer material and the amount of membrane elasticity have been investigated which in each cases, the radius of gyration and auto correlation velocity of different polymer membrane cases have been compared together. This simulation method in addition of probably helping understand natural myosin displacement mechanism, can be extended to design the contraction of an artificial muscle tissue close to nature.

Helix Inversion Controlled by Molecular Motors in Multistate Liquid Crystals

Unravelling the rules of molecular motion is a contemporary challenge that promises to support the development of responsive materials and is likely to enhance the understanding of functional motion. Advances in integrating light-driven molecular motors in soft matter have led to the design and realization of chiral nematic (cholesteric) liquid crystals that can respond to light with modification of their helical pitch, and also with helix inversion. Under illumination, these chiral liquid crystals convert from one helical geometry to another. Here, a series of light-driven molecular motors that feature a rich configurational landscape is presented, specifically which involves three stable chiral states. The succession of chiral structures involved in the motor cycle is transmitted at higher structural levels, as the cholesteric liquid crystals that are formed can interconvert between helices of opposite handedness, reversibly. In these materials, the dynamic features of the motors are thus expressed at the near-macroscopic, functional level, into addressable colors that can be used in advanced materials for tunable optics and photonics.

Tunable Photomechanics in Diarylethene-Driven Liquid Crystal Network Actuators

The response of soft actuators made of stimuli-responsive materials can be phenomenologically described by a stimulus-deformation curve, depicting the controllability and sensitivity of the actuator system. Manipulating such stimulus-deformation curve allows fabricating soft microrobots with reconfigurable actuation behavior, which is not easily achievable using conventional materials. Here, we report a light-driven actuator based on a liquid crystal polymer network containing diarylethene (DAE) photoswitches as cross-links, in which the stimulus-deformation curve under visible-light illumination is tuned with UV light. The tuning is brought about by the reversible electrocyclization of the DAE units. Because of the excellent thermal stability of the visible-absorbing closed-form DAEs, the absorbance of the actuator can be optically fixed to a desired value, which in turn dictates the efficiency of photothermally induced deformation. We employ the controllability in devising a logical AND gate with macroscopic output, i.e., an actuator that bends negligibly under UV or visible light irradiation, but with profound shape change when addressed to both simultaneously. The results provide design tools for reconfigurable microrobotics and polymer-based logic gating.

Bionic intelligent soft actuators: high-strength gradient intelligent hydrogels with diverse controllable deformations and movements

A series of novel nanofibrillated cellulose (NFC) reinforced gradient intelligent hydrogels with high response rate, multiple response patterns and diversified self-driven functions were successfully prepared. Based on the effect of the hydroxide radical of NFC on the addition reaction, and on the dehydration synthesis, the variation of NFC significantly regulated the gradient structure of the intelligent hydrogels. In addition to the infiltration property of graphene oxide (GO), reinforcement of NFC enhanced the crosslinking density and Young's modulus, which built a relationship between material characteristics and near infrared laser response rate. Intelligent hydrogel actuators realized bending deformation, curling deformation, switching movements and obstacle avoidance movements. The hydrogels with high Young's modulus exhibited relatively low self-driven rates and efficiency. The self-driven mechanisms of NFC reinforced gradient intelligent hydrogels were revealed effectively by constructing the mathematical relationship curvature variation, bending degree, deformation displacement, material characteristics and incentive intensity. The investigation showed a new path for the combination of mechanical property, intelligent property and functional property of intelligent hydrogels in a bionic soft robot and health engineering.

Arene Substitution Design for Controlled Conformational Changes of Dibenzocycloocta-1,5-dienes

We report that an agile eight-membered cycloalkane can be stabilized by fusing a benzene ring on each side, substituted with proper functional groups. The conformational change of dibenzocycloocta-1,5-diene (DBCOD), a rigid-flexible-rigid organic moiety, from its Boat to Chair conformation requires an activation energy of 42 kJ/mol, which is substantially lower than those of existing submolecular shape-changing units. Experimental data corroborated by theoretical calculations demonstrate that intramolecular hydrogen bonding can stabilize Boat, whereas electron repulsive interaction from opposing ester substituents favors Chair. Intramolecular hydrogen bonding formed by 1,10-diamide substitution stabilizes Boat, spiking the temperature at which Boat and Chair can readily interchange from -60 to 60 °C. Concomitantly this intramolecular attraction raises the energy barrier from 42 kJ/mol for unsubstituted DBCOD to 68 kJ/mol for diamide-substituted DBCOD. Remarkably, this value falls within the range of the activation energy of highly efficient enzyme-catalyzed biological reactions. With shape changes once considered only possible with high energy, our work reveals a potential pathway exemplified by a specific submolecular structure to achieve low-energy-driven shape changes for the first time. The intrinsic cycle stability and high-energy output systems that would incur damage under high-energy stimuli could particularly benefit from this new kind of low-energy-driven shape-changing mechanism. This work has laid the basis to construct systems for low-energy-driven stimuli-responsive applications, hitherto a challenge to overcome.

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.

Optical Pliers: Micrometer-Scale, Light-Driven Tools Grown on Optical Fibers

The ability to grip and handle small objects, from sub-millimeter electronic components to single-micrometer living cells, is vital for numerous ever-shrinking technologies. Mechanical grippers, powered by electric, pneumatic, hydraulic or piezoelectric servos, are well suited for the job at larger scales, but their complexity and need for force transmission prevent their miniaturization and remote control in tight spaces. Using liquid crystal elastomer microstructures that can change shape quickly and reversibly in response to light, a light-powered gripping tool-optical pliers-is built by growing two bending jaws on the tips of optical fibers. By delivering UV light to trigger polymerization via a micrometer-size fiber core, structures of similar size can be made without resorting to any microfabrication technology, such as laser photolithography. The tool is operated using visible light energy supplied through the fibers, with no force transmission. The elastomer growth technique readily offers micrometer-scale, remotely controlled functional structures with different modes of actuation as building blocks for the microtoolbox.

Modeling of Stripe Patterns in Photosensitive Azopolymers

Placed at interfaces, azobenzene-containing materials show extraordinary phenomena when subjected to external light sources. Here we model the surface changes induced by one-dimensional Gaussian light fields in thin azopolymer films. Such fields can be produced in a quickly moving film irradiated with a strongly focused laser beam or illuminating the sample through a cylindrical lens. To explain the appearance of stripe patterns, we first calculate the unbalanced mechanical stresses induced by one-dimensional Gaussian fields in the interior of the film. In accordance with our orientation approach, the light-induced stress originates from the reorientation of azobenzenes that causes orientation of rigid backbone segments along the light polarization. The resulting volume forces have different signs and amplitude for light polarization directed perpendicular and parallel to the moving direction. Accordingly, the grooves are produced by the stretching forces and elongated protrusions by the compressive forces. Implementation into a viscoplastic model in a finite element software predicts a considerably weaker effect for the light polarized along the moving direction, in accordance with the experimental observations. The maximum value in the distribution of light-induced stresses becomes in this case very close to the yield stress which results in smaller surface deformations of the glassy azopolymer.