Feedback-controlled hydrogels with homeostatic oscillations and dissipative signal transduction

Choreographing Oscillatory Hydrodynamics with DNA-Coated Gold Nanoparticles

Periodic responses to nonperiodic energy inputs, such as oscillations, are hallmarks of living systems. Nanoparticle-based systems have largely remained unexplored in the generation of oscillatory features. Here, we demonstrate a nanosystem featuring hierarchical response to light, where thermoplasmonic effects and reversible DNA-hybridization generate thermal convective forces and ultimately, oscillatory hydrodynamic flows. The slow aggregation of gold nanoparticles (AuNPs) serves as a positive feedback, while fast photothermal disassembly acts as negative feedback. These asymmetric feedback loops, combined with thermal hysteresis for time-delay, are essential ingredients for orchestrating an oscillating response.

Stiffness Modulation and Pulsatile Release in Dual Responsive Hydrogels

Inspired by nature, self-regulation can be introduced in synthetic hydrogels by incorporating chemo-mechanical signals or coupled chemical reactions to maintain or adapt the material's physico-chemical properties when exposed to external triggers. In this work, we present redox and light dual stimuli responsive hydrogels capable of rapidly adapting the polymer crosslinking network while maintaining hydrogel stability. Upon irradiation with UV light, polymer hydrogels containing redox responsive disulfide crosslinks and light responsive ortho-nitrobenzyl moieties show a release of payload accompanied by adaptation of the hydrogel network towards higher stiffness due to in situ crosslinking by S-nitrosylation. Whereas the hydrogel design allows the network to either become softer in presence of reducing agent glutathione or stiffer upon UV irradiation, simultaneous application of both stimuli induces network self-regulation resulting in a pulsatile form of payload release from the hydrogel. Finally, adaptive stiffness was used to make tunable hydrogels as substrates for different cell lines.

Soft Robots with Plant-Inspired Gravitropism Based on Fluidic Liquid Metal

Plants can autonomously adjust their growth direction based on the gravitropic response to maximize energy acquisition, despite lacking nerves and muscles. Endowing soft robots with gravitropism may facilitate the development of self-regulating systems free of electronics, but remains elusive. Herein, acceleration-regulated soft actuators are described that can respond to the gravitational field by leveraging the unique fluidity of liquid metal in its self-limiting oxide skin. The soft actuator is obtained by magnetic printing of the fluidic liquid metal heater circuit on a thermoresponsive liquid crystal elastomer. The Joule heat of the liquid metal circuit with gravity-regulated resistance can be programmed by changing the actuator's pose to induce the flow of liquid metal. The actuator can autonomously adjust its bending degree by the dynamic interaction between its thermomechanical response and gravity. A gravity-interactive soft gripper is also created with controllable grasping and releasing by rotating the actuator. Moreover, it is demonstrated that self-regulated oscillation motion can be achieved by interfacing the actuator with a monostable tape spring, allowing the electronics-free control of a bionic walker. This work paves the avenue for the development of liquid metal-based reconfigurable electronics and electronics-free soft robots that can perceive gravity or acceleration.

Artificial Homeostasis Systems Based on Feedback Reaction Networks: Design Principles and Future Promises

Feedback-controlled chemical reaction networks (FCRNs) are indispensable for various biological processes, such as cellular mechanisms, patterns, and signaling pathways. Through the intricate interplay of many feedback loops (FLs), FCRNs maintain a stable internal cellular environment. Currently, creating minimalistic synthetic cells is the long-term objective of systems chemistry, which is motivated by such natural integrity. The design, kinetic optimization, and analysis of FCRNs to exhibit functions akin to those of a cell still pose significant challenges. Indeed, reaching synthetic homeostasis is essential for engineering synthetic cell components. However, maintaining homeostasis in artificial systems against various agitations is a difficult task. Several biological events can provide us with guidelines for a conceptual understanding of homeostasis, which can be further applicable in designing artificial synthetic systems. In this regard, we organize our review with artificial homeostasis systems driven by FCRNs at different length scales, including homogeneous, compartmentalized, and soft material systems. First, we stretch a quick overview of FCRNs in different molecular and supramolecular systems, which are the essential toolbox for engineering different nonlinear functions and homeostatic systems. Moreover, the existing history of synthetic homeostasis in chemical and material systems and their advanced functions with self-correcting, and regulating properties are also emphasized.

Electrically Powered Dissipative Hydrogel Networks Reveal Transient Stiffness Properties for Out-of-Equilibrium Operations

Living systems use dissipative processes to enable precise spatiotemporal control over various functions, including the transient modulation of the stiffness of tissues, which, however, is challenging to achieve in soft materials. Here, we report a new platform to program hydrogel films with tunable, time-dependent mechanical properties under out-of-equilibrium conditions, powered by electricity. We show that the lifetime of the transient network of a surface-confined hydrogel film can be effectively controlled by programming the generation of an electrochemically oxidized mediator in the presence of a chemical or photoreducing agent in solution. It is, therefore, electrically possible to direct the transient stiffening or softening of the hydrogel film, enabling high modularity of the material functions with precise spatiotemporal control. Temporally controlled operations of the hydrogel films are demonstrated for the on-demand, dose-controlled release of multiple model protein payloads from electrode arrays using the present electrically powered dissipative system. This demonstration of electrically driven transient modulation of the stiffness properties of hydrogel films represents an important step toward the engineering of dissipative materials for developing future biomedical applications that can harness the temporal, adaptive properties of this new class of materials.

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.

Self-regulated reversal deformation and locomotion of structurally homogenous hydrogels subjected to constant light illumination

Environmentally adaptive hydrogels that are capable of reconfiguration in response to external stimuli have shown great potential toward bioinspired actuation and soft robotics. Previous efforts have focused mainly on either the sophisticated design of heterogeneously structured hydrogels or the complex manipulation of external stimuli, and achieving self-regulated reversal shape deformation in homogenous hydrogels under a constant stimulus has been challenging. Here, we report the molecular design of structurally homogenous hydrogels containing simultaneously two spiropyrans that exhibit self-regulated transient deformation reversal when subjected to constant illumination. The deformation reversal mechanism originates from the molecular sequential descending-ascending charge variation of two coexisting spiropyrans upon irradiation, resulting in a macroscale volumetric contraction-expansion of the hydrogels. Hydrogel film actuators were developed to display complex temporary bidirectional shape transformations and self-regulated reversal rolling under constant illumination. Our work represents an innovative strategy for programming complex shape transformations of homogeneous hydrogels using a single constant stimulus.

Interlinking spatial dimensions and kinetic processes in dissipative materials to create synthetic systems with lifelike functionality

Biological systems spontaneously convert energy input into the actions necessary to survive. Motivated by the efficacy of these processes, researchers aim to forge materials systems that exhibit the self-sustained and autonomous functionality found in nature. Success in this effort will require synthetic analogues of the following: a metabolism to generate energy, a vasculature to transport energy and materials, a nervous system to transmit 'commands', a musculoskeletal system to translate commands into physical action, regulatory networks to monitor the entire enterprise, and a mechanism to convert 'nutrients' into growing materials. Design rules must interconnect the material's structural and kinetic properties over ranges of length (that can vary from the nano- to mesoscale) and timescales to enable local energy dissipations to power global functionality. Moreover, by harnessing dynamic interactions intrinsic to the material, the system itself can perform the work needed for its own functionality. Here, we assess the advances and challenges in dissipative materials design and at the same time aim to spur developments in next-generation functional, 'living' materials.

Animating hydrogel knotbots with topology-invoked self-regulation

Steering soft robots in a self-regulated manner remains a grand challenge, which often requires continuous symmetry breaking and recovery steps for persistent motion. Although structural morphology is found significant for robotic functions, geometric topology has rarely been considered and appreciated. Here we demonstrate a series of knotbots, namely hydrogel-based robots with knotted structures, capable of autonomous rolling and spinning/rotating motions. With symmetry broken by external stimuli and restored by self-regulation, the coupling between self-constraint-induced prestress and photothermal strain animates the knotbots continuously. Experiments and simulations reveal that nonequilibrium processes are regulated dynamically and cooperatively by self-constraints, active deformations, and self-shadowing effect of the photo-responsive gel. The active motions enable the knotbots to execute tasks including gear rotation and rod climbing. This work paves the way to devise advanced soft robots with self-regulated sustainable motions by harnessing the topology.

Artificial Molecular Ratchets: Tools Enabling Endergonic Processes

Non-equilibrium chemical systems underpin multiple domains of contemporary interest, including supramolecular chemistry, molecular machines, systems chemistry, prebiotic chemistry, and energy transduction. Experimental chemists are now pioneering the realization of artificial systems that can harvest energy away from equilibrium. In this tutorial Review, we provide an overview of artificial molecular ratchets: the chemical mechanisms enabling energy absorption from the environment. By focusing on the mechanism type-rather than the application domain or energy source-we offer a unifying picture of seemingly disparate phenomena, which we hope will foster progress in this fascinating domain of science.

Light-Driven Self-Oscillation of Thermoplasmonic Nanocolloids

Self-oscillation-the periodic change of a system under a non-periodic stimulus-is vital for creating low-maintenance autonomous devices in soft robotics technologies. Soft composites of macroscopic dimensions are often doped with plasmonic nanoparticles to enhance energy dissipation and generate periodic response. However, while it is still unknown whether a dispersion of photonic nanocrystals may respond to light as a soft actuator, a dynamic analysis of nanocolloids self-oscillating in a liquid is also lacking. This study presents a new self-oscillator model for illuminated colloidal systems. It predicts that the surface temperature of thermoplasmonic nanoparticles and the number density of their clusters jointly oscillate at frequencies ranging from infrasonic to acoustic values. New experiments with spontaneously clustering gold nanorods, where the photothermal effect alters the interplay of light (stimulus) with the disperse system on a macroscopic scale, strongly support the theory. These findings enlarge the current view on self-oscillation phenomena and anticipate the colloidal state of matter to be a suitable host for accommodating light-propelled machineries. In broad terms, a complex system behavior is observed, which goes from periodic solutions (Hopf-Poincaré-Andronov bifurcation) to a new dynamic attractor driven by nanoparticle interactions, linking thermoplasmonics to nonlinearity and chaos.

Synergistic chemomechanical dynamics of feedback-controlled microreactors

The experimental control of synergistic chemomechanical dynamics of catalytically active microgels (microreactors) is a key prerequisite for the design of adaptive and biomimetic materials. Here, we report a minimalistic model of feedback-controlled microreactors based on the coupling between the hysteretic polymer volume phase transition and a volume-controlled permeability for the internal chemical conversion. We categorize regimes of mono- and bistability, excitability, damped oscillations, as well as sustained oscillatory states with tunable amplitude, as indicated by experiments and representable by the FitzHugh-Nagumo dynamics for neurons. We summarize the features of such a "colloidal neuron" in bifurcation diagrams with respect to microgel design parameters, such as permeability and relaxation times, as a guide for experimental synthesis.

Thermally trainable dual network hydrogels

Inspired by biological systems, trainable responsive materials have received burgeoning research interests for future adaptive and intelligent material systems. However, the trainable materials to date typically cannot perform active work, and the training allows only one direction of functionality change. Here, we demonstrate thermally trainable hydrogel systems consisting of two thermoresponsive polymers, where the volumetric response of the system upon phase transitions enhances or decreases through a training process above certain threshold temperature. Positive or negative training of the thermally induced deformations can be achieved, depending on the network design. Importantly, softening, stiffening, or toughening of the hydrogel can be achieved by the training process. We demonstrate trainable hydrogel actuators capable of performing increased active work or implementing an initially impossible task. The reported dual network hydrogels provide a new training strategy that can be leveraged for bio-inspired soft systems such as adaptive artificial muscles or soft robotics.

Longevity of System Functions in Biology and Biomimetics: A Matter of Robustness and Resilience

Within the framework of a circular economy, we aim to efficiently use raw materials and reduce waste generation. In this context, the longevity of biomimetic material systems can significantly contribute by providing robustness and resilience of system functionality inspired by biological models. The aim of this review is to outline various principles that can lead to an increase in robustness (e.g., safety factor, gradients, reactions to environmental changes) and resilience (e.g., redundancy, self-repair) and to illustrate the principles with meaningful examples. The study focuses on plant material systems with a high potential for transfer to biomimetic applications and on existing biomimetic material systems. Our fundamental concept is based on the functionality of the entire system as a function of time. We use functionality as a dimensionless measure of robustness and resilience to quantify the system function, allowing comparison within biological material systems and biomimetic material systems, but also between them. Together with the enclosed glossary of key terms, the review provides a comprehensive toolbox for interdisciplinary teams. Thus, allowing teams to communicate unambiguously and to draw inspiration from plant models when developing biomimetic material systems with great longevity potential.

Bioinspired soft robots based on organic polymer-crystal hybrid materials with response to temperature and humidity

The capability of stimulated response by mechanical deformation to induce motion or actuation is the foundation of lightweight organic, dynamic materials for designing light and soft robots. Various biomimetic soft robots are constructed to demonstrate the vast versatility of responses and flexibility in shape-shifting. We now report that the integration of organic molecular crystals and polymers brings about synergistic improvement in the performance of both materials as a hybrid materials class, with the polymers adding hygroresponsive and thermally responsive functionalities to the crystals. The resulting hybrid dynamic elements respond within milliseconds, which represents several orders of magnitude of improvement in the time response relative to some other type of common actuators. Combining molecular crystals with polymers brings crystals as largely overlooked materials much closer to specific applications in soft (micro)robotics and related fields.

An Anisotropic Hydrogel by Programmable Ionic Crosslinking for Sequential Two-Stage Actuation under Single Stimulus

As one of the most important anisotropic intelligent materials, bi-layer stimuli-responsive actuating hydrogels have proven their wide potential in soft robots, artificial muscles, biosensors, and drug delivery. However, they can commonly provide a simple one-actuating process under one external stimulus, which severely limits their further application. Herein, we have developed a new anisotropic hydrogel actuator by local ionic crosslinking on the poly(acrylic acid) (PAA) hydrogel layer of the bi-layer hydrogel for sequential two-stage bending under a single stimulus. Under pH = 13, ionic-crosslinked PAA networks undergo shrinking (-COO−/Fe3+ complexation) and swelling (water absorption) processes. As a combination of Fe3+ crosslinked PAA hydrogel (PAA@Fe3+) with non-swelling poly(3-(1-(4-vinylbenzyl)-1H-imidazol-3-ium-3-yl)propane-1-sulfonate) (PZ) hydrogel, the as-prepared PZ-PAA@Fe3+ bi-layer hydrogel exhibits distinct fast and large-amplitude bidirectional bending behavior. Such sequential two-stage actuation, including bending orientation, angle, and velocity, can be controlled by pH, temperature, hydrogel thickness, and Fe3+ concentration. Furthermore, hand-patterning Fe3+ to crosslink with PAA enables us to achieve various complex 2D and 3D shape transformations. Our work provides a new bi-layer hydrogel system that performs sequential two-stage bending without switching external stimuli, which will inspire the design of programmable and versatile hydrogel-based actuators.