Integrated 3D printing of flexible electroluminescent devices and soft robots

3D-Printed Hydrogel-Based Flexible Electrochromic Device for Wearable Displays

Flexible electrochromic devices (FECDs) are widely explored for diverse applications including wearable electronics, camouflage, and smart windows. However, the manufacturing process of patterned FECDs remains complex, costly, and non-customizable. To address this challenge, a strategy is proposed to prepare integrated FECDs via multi-material direct writing 3D printing. By designing novel viologen/polyvinyl alcohol (PVA) hydrogel inks and systematically evaluating the printability of various inks, seamless interface integration can be achieved, enabling streamlined manufacturing of patterned FECDs with continuous production capabilities. The resultant 3D-printed FECDs exhibit excellent electrochromic and mechanical properties, including high optical contrast (up to 54% at 360 nm), nice cycling stability (less than 5% electroactivity reduction after 10 000 s), and mechanical stability (less than 19% optimal contrast decrease after 5000 cycles of bending). The potential applications of these 3D-printed hydrogel-based FECDs are further demonstrated in wearable electronics, camouflage, and smart windows.

3D Printed Room Temperature Phosphorescence Materials Enabled by Edible Natural Konjac Glucomannan

Shaping room temperature phosphorescence (RTP) materials into 3D bodies is important for stereoscopic optoelectronic displays but remains challenging due to their poor processability and mechanical properties. Here, konjac glucomannan (KGM) is employed to anchor arylboronic acids with various π conjugations via a facile B─O covalent reaction to afford printable inks, using which full-color high-fidelity 3D RTP objects with high mechanical strength can be obtained via direct ink writing-based 3D printing and freeze-drying. The doubly rigid structure supplied by the synergy of hydrogen bonding and B─O covalent bonding can protect the triplet excitons; thus, the prepared 3D RTP object shows a striking lifetime of 2.14 s. The printed counterparts are successfully used for 3D anti-counterfeiting and can be recycled and reprinted nondestructively by dissolving in water. This success expands the scope of printable 3D luminescent materials, providing an eco-friendly platform for the additive manufacturing of sophisticated 3D RTP architectures.

Alternating current electroluminescence devices: recent advances and functional applications

Wearable smart devices and visualisation sensors based on alternating current electroluminescence (ACEL) have received considerable attention in recent years. Due to the unique properties of ACEL devices, such as high mechanical strength, adaptability to complex environments, and no need for energy level matching, ACEL is suitable for multifunctional applications and visualisation sensing platforms. This review comprehensively outlines the latest developments in ACEL devices, starting with an analysis of the mechanism, classification, and optimisation strategies of ACEL. It introduces the functional applications of ACEL in multicolour displays, high-durability displays, stretchable and wearable displays, and autonomous function displays. Particularly, it emphasises the research progress of ACEL in sensory displays under interactive conditions such as liquid sensing, environmental factor sensing, kinetic energy sensing, and biosensing. Finally, it forecasts the challenges and new opportunities faced by future functional and interactive ACEL devices in fields such as artificial intelligence, smart robotics, and human-computer interaction.

In-Sensor Tactile Fusion and Logic for Accurate Intention Recognition

Touch control intention recognition is an important direction for the future development of human-machine interactions (HMIs). However, the implementation of parallel-sensing functional modules generally requires a combination of different logical blocks and control circuits, which results in regional redundancy, redundant data, and low efficiency. Here, a location-and-pressure intelligent tactile sensor (LPI tactile sensor) unprecedentedly combined with sensing, computing, and logic is proposed, enabling efficient and ultrahigh-resolution action-intention interaction. The LPI tactile sensor eliminates the need for data transfer among the functional units through the core integration design of the layered structure. It actuates in-sensor perception through feature transmission, fusion, and differentiation, thereby revolutionizing the traditional von Neumann architecture. While greatly simplifying the data dimensionality, the LPI tactile sensor achieves outstanding resolution sensing in both location (<400 µm) and pressure (75 Pa). Synchronous feature fusion and decoding support the high-fidelity recognition of action and combinatorial logic intentions. Benefiting from location and pressure synergy, the LPI tactile sensor demonstrates robust privacy as an encrypted password device and interaction intelligence through pressure enhancement. It can recognize continuous touch actions in real time, map real intentions to target events, and promote accurate and efficient intention-driven HMIs.

Highly Thermally Conductive Super-Aligned Boron Nitride Nanotube Films for Flexible Electronics Thermal Management

Flexible electronics toward high integration, miniaturization, and multifunctionality, leading to a dramatic increase in power density. However, the low thermal conductivity of flexible substrates impedes efficient heat dissipation and device performance improvement. In this work, we propose a template-assisted chemical conversion strategy for obtaining boron nitride nanotube (BNNT) films with high thermal conductivity and great flexibility. Aligned carbon nanotube (CNT) films have been adopted as templates; a low-temperature chemical conversion followed by a high-temperature annealing has been carried out to produce a highly ordered BNNT film. Benefiting from the high orientation order, the BNNT film exhibits an exceptional thermal conductivity of 45.5 W m-1 K-1 and presents excellent heat dissipation capability, much superior to the commonly used polyimide film. Furthermore, the BNNT film demonstrated excellent flexibility and high insulation resistance. The test of integration with film resistors demonstrated its potential as a thermally conductive substrate for electronics cooling. This work provides a solution for the effective thermal management of flexible electronics.

High internal phase emulsions gel ink for direct-ink-writing 3D printing of liquid metal

3D printing of liquid metal remains a big challenge due to its low viscosity and large surface tension. In this study, we use Carbopol hydrogel and liquid gallium-indium alloy to prepare a liquid metal high internal phase emulsion gel ink, which can be used for direct-ink-writing 3D printing. The high volume fraction (up to 82.5%) of the liquid metal dispersed phase gives the ink excellent elastic properties, while the Carbopol hydrogel, as the continuous phase, provides lubrication for the liquid metal droplets, ensuring smooth flow of the ink during shear extrusion. These enable high-resolution and shape-stable 3D printing of three-dimensional structures. Moreover, the liquid metal droplets exhibit an electrocapillary phenomenon in the Carbopol hydrogel, which allows for demulsification by an electric field and enables electrical connectivity between droplets. We have also achieved the printing of ink on flexible, non-planar structures, and demonstrated the potential for alternating printing with various materials.

Bright Bifacial White-Light Illumination by Highly Deformable Electroluminescent Devices Based on Transparent Ionic-Hydrogel Electrodes and Quantum-Dot Color Conversion

Deformable alternating-current electroluminescent (ACEL) devices are of increasing interest because of their potential to drive innovation in soft optoelectronics. Despite the research focus on efficient white ACEL devices, achieving deformable devices with high luminance remains difficult. In this study, this challenge is addressed by fabricating white ACEL devices using color-conversion materials, transparent and durable hydrogel electrodes, and high-k nanoparticles. The incorporation of quantum dots enables the highly efficient generation of red and green light through the color conversion of blue electroluminescence. Although the ionic-hydrogel electrode provides high toughness, excellent light transmittance, and superior conductivity, the luminance of the device is remarkably enhanced by the incorporation of a high-k dielectric, BaTiO3. The fabricated ACEL device uniformly emits very bright white light (489 cd m-2) with a high color-rendering index (91) from both the top and bottom. The soft and tough characteristics of the device allow seamless operation in various deformed states, including bending, twisting, and stretching up to 400%, providing a promising platform for applications in a wide array of soft optoelectronics.

Fully Printable and Reconfigurable Hufu-type Electroluminescent Devices for Visualized Encryption

Hufu, serving as evidence of imperial authorization in ancient China, comprises two parts in the form of tiger-shaped tallies that only become effective when matched. Drawing inspiration from the concept of Hufu, a reconfigurable electroluminescent (EL) device is designed by separating conventional integral devices into two parts that contain the EL layer (part A) and the transparent electrode (part B), respectively. The key to realizing such strategy is employing an adhesive and stretchable polymer gel composite as the transparent electrodes for the EL devices. The polymer gel composite facilitates robust yet reversible contact between the EL layer and transparent electrode, enabling high-performance and stretchable EL devices that can be readily disassembled and reassembled: the EL devices can maintain ≈81% of their initial luminance after 1000 times of repeated disassembly and reassembly. Moreover, the precursor ink of the polymer gel composite is compatible with a wide variety of coating and printing technologies, such as spin-coating, inkjet printing, dispensing, and brush painting. Importantly, the reconfigurable feature of the devices opens up a new path to encryption display systems, and as a proof-of-concept, EL encrypted password, and content-changeable digital clock are demonstrated.

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

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

Bicontinuous vitrimer heterogels with wide-span switchable stiffness-gated iontronic coordination

Currently, it remains challenging to balance intrinsic stiffness with programmability in most vitrimers. Simultaneously, coordinating materials with gel-like iontronic properties for intrinsic ion transmission while maintaining vitrimer programmable features remains underexplored. Here, we introduce a phase-engineering strategy to fabricate bicontinuous vitrimer heterogel (VHG) materials. Such VHGs exhibited high mechanical strength, with an elastic modulus of up to 116 MPa, a high strain performance exceeding 1000%, and a switchable stiffness ratio surpassing 5 × 103. Moreover, highly programmable reprocessing and shape memory morphing were realized owing to the ion liquid-enhanced VHG network reconfiguration. Derived from the ion transmission pathway in the ILgel, which responded to the wide-span switchable mechanics, the VHG iontronics had a unique bidirectional stiffness-gated piezoresistivity, coordinating both positive and negative piezoresistive properties. Our findings indicate that the VHG system can act as a foundational material in various promising applications, including smart sensors, soft machines, and bioelectronics.

Architected Poly(ionic liquid) Composites with Spatially Programmable Mechanical Properties and Mixed Conductivity

Structural electrolytes present advantages over liquid varieties, which are critical to myriad applications. In particular, structural electrolytes based on polymerized ionic liquids or poly(ionic liquids) (pILs) provide wide electrochemical windows, high thermal stability, nonvolatility, and modular chemistry. However, current methods of fabricating structural electrolytes from pILs and their composites present limitations. Recent advances have been made in 3D printing pIL electrolytes, but current printing techniques limit the complexity of forms that can be achieved, as well as the ability to control mechanical properties or conductivity. We introduce a method for fabricating architected pIL composites as structural electrolytes via embedded 3D (EMB3D) printing. We present a modular design for formulating ionic liquid (IL) monomer composite inks that can be printed into sparse, lightweight, free-standing lattices with different functionalities. In addition to characterizing the rheological and mechanical behaviors of IL monomer inks and pIL lattices, we demonstrate the self-sensing capabilities of our printed structural electrolytes during cyclic compression. Finally, we use our inks and printing method to spatially program self-sensing capabilities in pIL lattices through heterogeneous architectures as well as ink compositions that provide mixed ionic-electronic conductivity. Our free-form approach to fabricating structural electrolytes in complex, 3D forms with programmable, anisotropic properties has broad potential use in next-generation sensors, soft robotics, bioelectronics, energy storage devices, and more.

Self-Reinforced Piezoelectric Response of an Electroluminescent Film for the Dual-Channel Signal Monitoring of Damaged Areas

Organic piezoelectric nanogenerators (PENGs) show promise for monitoring damage in mechanical equipment. However, weak interfacial bonding between the reinforcing phase and the fluorinated material limits the feedback signal from the damaged area. In this study, we developed a PENG film capable of real-time identification of the damage location and extent. By incorporating core-shell barium titanate (BTO@PVDF-HFP) nanoparticles, we achieved enhanced piezoelectric characteristics, flexibility, and processability. The composite film exhibited an expanded output voltage range, reaching 41.8 V with an increase in frequency, load, and damage depth. Additionally, the film demonstrated self-powered electroluminescence (EL) during the wear process, thanks to its inherent ferroelectric properties and the presence of luminescent ZnS:Cu particles. Unlike conventional PENG electroluminescent devices, the PENG film exhibited luminescence at the damage location over a wide temperature range. Our findings offer a novel approach for realizing modular and miniaturized real-time damage mapping systems in the field of safety engineering.

Hydrogen Bonds Reinforced Ionogels with High Sensitivity and Stable Autonomous Adhesion as Versatile Ionic Skins

Flexible wearable sensors have demonstrated enormous potential in various fields such as human health monitoring, soft robotics, and motion detection. Among them, sensors based on ionogels have garnered significant attention due to their wide range of applications. However, the fabrication of ionogels with high sensitivity and stable autonomous adhesion remains a challenge, thereby limiting their potential applications. Herein, we present an advanced ionogel (PACG-MBAA) with exceptional performances based on multiple hydrogen bonds, which is fabricated through one-step radical polymerization of N-acryloylglycine (ACG) in 1-ethyl-3-methylimidazolium ethyl sulfate (EMIES) in the presence of N,N'-methylenebis(acrylamide) (MBAA). Compared with the ionogel (PAA-MBAA) formed by polymerization of acrylic acid (AA) in EMIES, the resulting ionogel exhibits tunable mechanical strength (35-130 kPa) and Young's modulus comparable to human skin (60-70 kPa) owing to the multiple hydrogen bonds formation. Importantly, they demonstrate stable autonomous adhesion to various substrates and good self-healing capabilities. Furthermore, the ionogel-based sensor shows high sensitivity (with a gauge factor up to 6.16 in the tensile range of 300-700%), enabling the detection of both gross and subtle movements in daily human activities. By integration of the International Morse code, the ionogel-based sensor enables the encryption, decryption, and transmission of information, thus expanding its application prospects.

Micropyramid Array Bimodal Electronic Skin for Intelligent Material and Surface Shape Perception Based on Capacitive Sensing

Developing electronic skins (e-skins) that are comparable to or even beyond human tactile perception holds significant importance in advancing the process of intellectualization. In this context, a machine-learning-motivated micropyramid array bimodal (MAB) e-skin based on capacitive sensing is reported, which enables spatial mapping applications based on bimodal sensing (proximity and pressure) implemented via fringing and iontronic effects, such as contactless measurement of 3D objects and contact recognition of Braille letters. Benefiting from the iontronic effect and single-micropyramid structure, the MAB e-skin in pressure mode yields impressive features: a maximum sensitivity of 655.3 kPa-1 (below 0.5 kPa), a linear sensitivity of 327.9 kPa-1 (0.5-15 kPa), and an ultralow limit of detection of 0.2 Pa. With the assistance of multilayer perceptron and convolutional neural network, the MAB e-skin can accurately perceive 6 materials and 10 surface shapes based on the training and learning using the collected datasets from proximity and pressure modes, thus allowing it to achieve the precise perception of different objects within one proximity-pressure cycle. The development of this MAB e-skin opens a new avenue for robotic skin and the expansion of advanced applications.

Microstructured Polyfluoroacrylate Elastomeric Dielectric Layer for Highly Stretchable Wide-Range Capacitive Pressure Sensors

Capacitive pressure sensors capable of replicating human tactile senses have garnered tremendous attention. Introducing microstructures into the dielectric layer is an effective approach to improve the sensitivity of the sensors. However, most reported processes to fabricate microstructured dielectric layers are complicated and time-consuming and usually have adverse effects on the mechanical properties. Herein, we report a mechanically strong and highly stretchable dielectric layer fabricated from a microstructured fluorinated elastomer with a high dielectric constant (5.8 at 1000 Hz) via a simple and low-cost thermal decomposition process. Capacitive pressure sensors based on this microstructured fluorinated elastomer dielectric layer and soft ionotronic electrodes illustrate an impressing stretchability (>300%), a high pressure sensitivity (17 MPa-1), a wide detection range (70 Pa-800 kPa), and a fast response time (below 300 ms). Moreover, the multipixel capacitive pressure sensors sensing array maintains the unique spatial tactile sensing performance even under significant tensile deformation. It is believed that our microstructured fluorinated elastomer dielectric layer might find wide applications in stretchable ionotronic devices.

Direct-Ink-Writing 3D-Printed Bioelectronics

The development of wearable and implantable bioelectronics has garnered significant momentum in recent years, driven by the ever-increasing demand for personalized health monitoring, remote patient management, and real-time physiological data collection. The elevated sophistication and advancement of these devices have thus led to the use of many new and unconventional materials which cannot be fulfilled through traditional manufacturing techniques. Three-dimension (3D) printing, also known as additive manufacturing, is an emerging technology that opens new opportunities to fabricate next-generation bioelectronic devices. Some significant advantages include its capacity for material versatility and design freedom, rapid prototyping, and manufacturing efficiency with enhanced capabilities. This review provides an overview of the recent advances in 3D printing of bioelectronics, particularly direct ink writing (DIW), encompassing the methodologies, materials, and applications that have emerged in this rapidly evolving field. This review showcases the broad range of bioelectronic devices fabricated through 3D printing including wearable biophysical sensors, biochemical sensors, electrophysiological sensors, energy devices, multimodal systems, implantable devices, and soft robots. This review will also discuss the advantages, existing challenges, and outlook of applying DIW 3D printing for the development of bioelectronic devices toward healthcare applications.

Variable stiffness soft robotic gripper: design, development, and prospects

The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

Co3 O4 Quantum Dots Intercalation Liquid-Crystal Ordered-Layered-Structure Optimizing the Performance of 3D-Printing Micro-Supercapacitors

The effects of near surface or surface mechanisms on electrochemical performance (lower specific capacitance density) hinders the development of 3D printed micro supercapacitors (MSCs). The reasonable internal structural characteristics of printed electrodes and the appropriate intercalation material can effectively compensate for the effects of surface or near-surface mechanisms. In this study, a layered structure is constructed inside an electrode using an ink with liquid-crystal characteristics, and the pore structure and oxidation active sites of the layered electrode are optimized by controlling the amount of Co3 O4 -quantum dots (Co3 O4 QDs). The Co3 O4 QDs are distributed in the pores of the electrode surface, and the insertion of Co3 O4 QDs can effectively compensate for the limitations of surface or near-surface mechanisms, thus effectively improving the pseudocapacitive characteristics of the 3D-printed MSCs. The 3D printed MSC exhibits a high area capacitance (306.13 mF cm-2 ) and energy density (34.44 µWh cm-2 at a power density of 0.108 mW cm-2 ). Therefore, selecting the appropriate materials to construct printable electrode structures and effectively adjusting material ratios for efficient 3D printing are expected to provide feasible solutions for the construction of various high-energy storage systems such as MSCs.

Three/Four-Dimensional Printed PLA Nano/Microstructures: Crystallization Principles and Practical Applications

Compared to traditional methods, three/four-dimensional (3D/4D) printing technologies allow rapid prototyping and mass customization, which are ideal for preparing nano/microstructures of soft polymer materials. Poly (lactic acid) (PLA) is a biopolymer material widely used in additive manufacturing (AM) because of its biocompatibility and biodegradability. Unfortunately, owing to its intrinsically poor nucleation ability, a PLA product is usually in an amorphous state after industrial processing, leading to some undesirable properties such as a barrier property and low thermal resistance. Crystallization mediation offers a most practical way to improve the properties of PLA products. Herein, we summarize and discuss 3D/4D printing technologies in the processing of PLA nano/microstructures, focusing on crystallization principles and practical applications including bio-inspired structures, flexible electronics and biomedical engineering mainly reported in the last five years. Moreover, the challenges and prospects of 3D/4D printing technologies in the fabrication of high-performance PLA materials nano/microstructures will also be discussed.

Dual-Channel Stretchable, Self-Tuning, Liquid Metal Coils and Their Fabrication Techniques

Flexible and stretchable radiofrequency coils for magnetic resonance imaging represent an emerging and rapidly growing field. The main advantage of such coil designs is their conformal nature, enabling a closer anatomical fit, patient comfort, and freedom of movement. Previously, we demonstrated a proof-of-concept single element stretchable coil design with a self-tuning smart geometry. In this work, we evaluate the feasibility of scaling this coil concept to a multi-element coil array and the associated engineering and manufacturing challenges. To this goal, we study a dual-channel coil array using full-wave simulations, bench testing, in vitro, and in vivo imaging in a 3 T scanner. We use three fabrication techniques to manufacture dual-channel receive coil arrays: (1) single-layer casting, (2) double-layer casting, and (3) direct-ink-writing. All fabricated arrays perform equally well on the bench and produce similar sensitivity maps. The direct-ink-writing method is found to be the most advantageous fabrication technique for fabrication speed, accuracy, repeatability, and total coil array thickness (0.6 mm). Bench tests show excellent frequency stability of 128 ± 0.6 MHz (0% to 30% stretch). Compared to a commercial knee coil array, the stretchable coil array is more conformal to anatomy and provides 50% improved signal-to-noise ratio in the region of interest.

A liquid-free conducting ionoelastomer for 3D printable multifunctional self-healing electronic skin with tactile sensing capabilities

Conductive elastomers with both softness and conductivity are widely used in the field of flexible electronics. Nonetheless, conductive elastomers typically exhibit prominent problems such as solvent volatilization and leakage, and poor mechanical and conductive properties, which limit their applications in electronic skin (e-skin). In this work, a liquid-free conductive ionogel (LFCIg) with excellent performance was fabricated by utilizing the innovative double network design approach based on a deep eutectic solvent (DES). The double-network LFCIg is cross-linked by dynamic non-covalent bonds, which exhibit excellent mechanical properties (2100% strain while sustaining a fracture strength of 1.23 MPa) and >90% self-healing efficiency, and a superb electrical conductivity of 23.3 mS m-1 and 3D printability. Moreover, the conductive elastomer based on LFCIg has been developed into a stretchable strain sensor that achieves accurate response recognition, classification, and identification of different robot gestures. More impressively, an e-skin with tactile sensing functions is produced by in situ 3D printing of sensor arrays on flexible electrodes to detect light weight objects and recognize the resulting spatial pressure variations. Collectively, the results demonstrate that the designed LFCIg has unparalleled advantages and presents wide application potential in flexible robotics, e-skin and physiological signal monitoring.

Sensing in Soft Robotics

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.

3D Printing of Ionogels with Complementary Functionalities Enabled by Self-Regulating Ink

Shaping soft and conductive materials into sophisticated architectures through 3D printing is driving innovation in myriad applications, such as robotic counterparts that emulate the synergic functions of biological systems. Although recently developed multi-material 3D printing has enabled on-demand creation of intricate artificial counterparts from a wide range of functional viscoelastic materials. However, directly achieving complementary functionalities in one ink design remains largely unexplored, given the issues of printability and synergy among ink components. In this study, an easily accessible and self-regulating tricomponent ionogel-based ink design to address these challenges is reported. The resultant 3D printed objects, based on the same component but with varying ratios of ink formulations, exhibit distinct yet complementary properties. For example, their Young's modulus can differ by three orders of magnitude, and some structures are rigid while others are ductile and viscous. A theoretical model is also employed for predicting and controlling the printing resolution. By integrating complementary functionalities, one further demonstrates a representative bioinspired prototype of spiderweb, which mimics the sophisticated structure and multiple functions of a natural spiderweb, even working and camouflaging underwater. This ink design strategy greatly extends the material choice and can provide valuable guidance in constructing diverse artificial systems by 3D printing.

Bioinspired Additive Manufacturing of Hierarchical Materials: From Biostructures to Functions

Throughout billions of years, biological systems have evolved sophisticated, multiscale hierarchical structures to adapt to changing environments. Biomaterials are synthesized under mild conditions through a bottom-up self-assembly process, utilizing substances from the surrounding environment, and meanwhile are regulated by genes and proteins. Additive manufacturing, which mimics this natural process, provides a promising approach to developing new materials with advantageous properties similar to natural biological materials. This review presents an overview of natural biomaterials, emphasizing their chemical and structural compositions at various scales, from the nanoscale to the macroscale, and the key mechanisms underlying their properties. Additionally, this review describes the designs, preparations, and applications of bioinspired multifunctional materials produced through additive manufacturing at different scales, including nano, micro, micro-macro, and macro levels. The review highlights the potential of bioinspired additive manufacturing to develop new functional materials and insights into future directions and prospects in this field. By summarizing the characteristics of natural biomaterials and their synthetic counterparts, this review inspires the development of new materials that can be utilized in various applications.

A supramolecular gel-elastomer system for soft iontronic adhesives

Electroadhesion provides a promising route to augment robotic functionalities with continuous, astrictive, and reversible adhesion force. However, the lack of suitable conductive/dielectric materials and processing capabilities have impeded the integration of electroadhesive modules into soft robots requiring both mechanical compliance and robustness. We present herein an iontronic adhesive based on a dynamically crosslinked gel-elastomer system, including an ionic organohydrogel as adhesive electrodes and a resilient polyurethane with high electrostatic energy density as dielectric layers. Through supramolecular design and synthesis, the dual-material system exhibits cohesive heterolayer bonding and autonomous self-healing from damages. Iontronic soft grippers that seamlessly integrate actuation, adhesive prehension, and exteroceptive sensation are devised via additive manufacturing. The grippers can capture soft and deformable items, bear high payload under reduced voltage input, and rapidly release foreign objects in contrast to electroadhesives. Our materials and iontronic mechanisms pave the way for future advancement in adhesive-enhanced multifunctional soft devices.

Touchable Gustation via a Hoffmeister Gel Iontronic Sensor

A particular sense, touchable gustation, was achieved. We proposed a chemical-mechanical interface strategy with an iontronic sensor device. A conductive hydrogel, amino trimethylene phosphonic acid (ATMP) assisted poly(vinyl alcohol) (PVA), was employed as the dielectric layer of the gel iontronic sensor. The Hofmeister effect of the ATMP-PVA hydrogel was well investigated to establish the quantitative description of the gel elasticity modulus to chemical cosolvents. The mechanical properties of hydrogels can be transduced extensively and reversibly by regulating the aggregation state of polymer chains with hydrated ions or cosolvents. Scanning electron microscopy (SEM) images of ATMP-PVA hydrogel microstructures stained with different soaked cosolvents present different networks. The information on different chemical components will be stored in the ATMP-PVA gels. The flexible gel iontronic sensor with a hierarchical pyramid structure performed high linear sensitivity of 3224.2 kPa^-1 and wide pressure response in the range of 0-100 kPa. The finite element analysis proved the pressure distribution at the gel interface of the gel iontronic sensor and the capacitation-stress response relation. Various cations, anions, amino acids, and saccharides can be discriminated, classified, and quantified with the gel iontronic sensor. The Hofmeister effect regulated chemical-mechanical interface performs the response and conversion of biological/chemical signals into electrical output in real time. The particular function to tactile with gustation percept will contribute promising applications in the human-machine interaction, humanoid robot, clinic treatment, or athletic training optimization.

A Machine Learning-Combined Flexible Sensor for Tactile Detection and Voice Recognition

Intelligent sensors have attracted substantial attention for various applications, including wearable electronics, artificial intelligence, healthcare monitoring, and human-machine interactions. However, there still remains a critical challenge in developing a multifunctional sensing system for complex signal detection and analysis in practical applications. Here, we develop a machine learning-combined flexible sensor for real-time tactile sensing and voice recognition through laser-induced graphitization. The intelligent sensor with a triboelectric layer can convert local pressure to an electrical signal through a contact electrification effect without external bias, which has a characteristic response behavior when exposed to various mechanical stimuli. With the special patterning design, a smart human-machine interaction controlling system composed of a digital arrayed touch panel is constructed to control electronic devices. Based on machine learning, the real-time monitoring and recognition of the changes of voice are achieved with high accuracy. The machine learning-empowered flexible sensor provides a promising platform for the development of flexible tactile sensing, real-time health detection, human-machine interaction, and intelligent wearable devices.

Bioinspired Self-Growing Hydrogels by Harnessing Interfacial Polymerization

The production of natural materials is achieved through a bottom-up approach, in which materials spontaneously grow and adapt to the external environment. Synthetic materials are specifically designed and fabricated as engineered materials; however, they are far away from these natural self-growing attributes. Thus, design and fabrication of synthetic material systems to replicate the self-growing characteristics of those natural prototypes (i.e., hairs and nails) remains challenging. Inspired by the self-growing behaviors of keratin proteins, here the fabrication of synthetic hydrogels (i.e., polyacrylamide (PAAm)) from the free radical polymerization at the interface between AAm precursor solution and liquid metals (i.e., eutectic gallium-indium (EGaIn)) is reported. The newly formed hydrogel materials at the EGaIn/AAm precursor interface gradually push the whole hydrogel upward, enabling the self-growing of these synthetic hydrogel materials. This work not only endows the fabrication of synthetic materials with unprecedented self-growing characters, but also broadens the potential applications of self-growing materials in actuation and soft robotics.

3D printing of thermosets with diverse rheological and functional applicabilities

Thermosets such as silicone are ubiquitous. However, existing manufacturing of thermosets involves either a prolonged manufacturing cycle (e.g., reaction injection molding), low geometric complexity (e.g., casting), or limited processable materials (e.g., frontal polymerization). Here, we report an in situ dual heating (ISDH) strategy for the rapid 3D printing of thermosets with complex structures and diverse rheological properties by incorporating direct ink writing (DIW) technique and a heating-accelerated in situ gelation mechanism. Enabled by an integrated Joule heater at the printhead, extruded thermosetting inks can quickly cure in situ, allowing for DIW of various thermosets with viscosities spanning five orders of magnitude, printed height over 100 mm, and high resolution of 50 μm. We further demonstrate DIW of a set of heterogenous thermosets using multiple functional materials and present a hybrid printing of a multilayer soft electronic circuit. Our ISDH strategy paves the way for fast manufacturing of thermosets for various emerging fields.