Smart three-dimensional lightweight structure triggered from a thin composite sheet via 3D printing technique

4D printing for biomedical applications

While three-dimensional (3D) printing excels at fabricating static constructs, it fails to emulate the dynamic behavior of native tissues or the temporal programmability desired for medical devices. Four-dimensional (4D) printing is an advanced additive manufacturing technology capable of fabricating constructs that can undergo pre-programmed changes in shape, property, or functionality when exposed to specific stimuli. In this Perspective, we summarize the advances in materials chemistry, 3D printing strategies, and post-printing methodologies that collectively facilitate the realization of temporal dynamics within 4D-printed soft materials (hydrogels, shape-memory polymers, liquid crystalline elastomers), ceramics, and metals. We also discuss and present insights about the diverse biomedical applications of 4D printing, including tissue engineering and regenerative medicine, drug delivery, in vitro models, and medical devices. Finally, we discuss the current challenges and emphasize the importance of an application-driven design approach to enable the clinical translation and widespread adoption of 4D printing.

Polymer Composites in 3D/4D Printing: Materials, Advances, and Prospects

Additive manufacturing (AM), commonly referred to as 3D printing, has revolutionized the manufacturing landscape by enabling the intricate layer-by-layer construction of three-dimensional objects. In contrast to traditional methods relying on molds and tools, AM provides the flexibility to fabricate diverse components directly from digital models without the need for physical alterations to machinery. Four-dimensional printing is a revolutionary extension of 3D printing that introduces the dimension of time, enabling dynamic transformations in printed structures over predetermined periods. This comprehensive review focuses on polymeric materials in 3D printing, exploring their versatile processing capabilities, environmental adaptability, and applications across thermoplastics, thermosetting materials, elastomers, polymer composites, shape memory polymers (SMPs), including liquid crystal elastomer (LCE), and self-healing polymers for 4D printing. This review also examines recent advancements in microvascular and encapsulation self-healing mechanisms, explores the potential of supramolecular polymers, and highlights the latest progress in hybrid printing using polymer-metal and polymer-ceramic composites. Finally, this paper offers insights into potential challenges faced in the additive manufacturing of polymer composites and suggests avenues for future research in this dynamic and rapidly evolving field.

3D-printing of biomass furan-based polyesters with robust mechanical performance and shape memory property

3D-printing provides a feasible technique for realizing new materials into structural and intelligent parts. In this work, biomass furan-based polyesters poly (ethylene furanoate) (PEF), poly (trimethylene furanoate) (PTF), and poly (butylene furanoate) (PBF) were successfully synthesized in a 5 L reactor through the melt polycondensation process and fabricated into 3D-printing feedstocks. It was demonstrated that the three furan-based polyesters were additively-manufactured into complicated structures. Besides, the mechanical and thermal properties of furan-based polyesters could be tailored by the chain length of diol monomer. The mechanical performance of 3D-printed PEF, PTF and PBF were characterized and compared with commercial filaments. The tensile strength of PEF and PTF could reach 74.6 and 63.8 MPa respectively, which exhibited superior tensile property to poly(ether-ether-ketone) (PEEK), polyamide (PA) and polylactic acid (PLA). Meanwhile, the compression results demonstrated that the PEF and PTF possessed comparable energy absorption capacity with PEEK and PLA respectively, which indicated excellent mechanical properties of furan-based polyesters. It was interesting to find that the 3D-printed structures including solid cube, bionic flower and lattice structures were employed to prove that the PTF possessed excellent shape memory properties. Therefore, the proposed biomass furan-based polymers would offer more freedom in the field of 3D-printing.

4D Printing Shape-Morphing Hybrid Biomaterials for Advanced Bioengineering Applications

Four-dimensional (4D) printing is an innovative additive manufacturing technology used to fabricate structures that can evolve over time when exposed to a predefined environmental stimulus. 4D printed objects are no longer static objects but programmable active structures that accomplish their functions thanks to a change over time in their physical/chemical properties that usually displays macroscopically as a shapeshifting in response to an external stimulus. 4D printing is characterized by several entangled features (e.g., involved material(s), structure geometry, and applied stimulus entities) that need to be carefully coupled to obtain a favorable fabrication and a functioning structure. Overall, the integration of micro-/nanofabrication methods of biomaterials with nanomaterials represents a promising approach for the development of advanced materials. The ability to construct complex and multifunctional triggerable structures capable of being activated allows for the control of biomedical device activity, reducing the need for invasive interventions. Such advancements provide new tools to biomedical engineers and clinicians to design dynamically actuated implantable devices. In this context, the aim of this review is to demonstrate the potential of 4D printing as an enabling manufacturing technology to code the environmentally triggered physical evolution of structures and devices of biomedical interest.

Aphid-Inspired and Thermally-Actuated Soft Gripper Using 3D Printing Technology

Herein, a thermo-actuated aphid-inspired dry adhesive (TADA) that offers tunable and reversible adhesion is reported. It is easily fabricated through 3D printing using a polylactic acid (PLA) filament and silicone elastomer, avoiding the use of unfavorable methods for micro- and nanofabrication and unwanted particles for actuation. The tunable adhesive system mimics aphid biology to achieve adhesion switchability. Switching between adhesion states is enabled by the thermo-actuated PLA, which has shape memory properties. Additionally, silicone elastomer enables adherence to flat substrates such as glass, silicon wafers, and acrylic plates. The detachment time of the TADA can be controlled by changing the printing layer height, which is a 3D-printing parameter that results in a short detachment time when the printing layer height is small. The adhesion strength is measured by applying different preloads and varying the size of the adhesive area. The reversibility between the adhesion-on and adhesion-off states, revealing good repeatability with similar adhesion strengths is also demonstrated. The TADA has potential applications in transferring silicon wafers. In addition, it can be printed to fit a flat plate of any shape, enabling it to grip the plate stably.

Four-Dimensional (4D) Printing of Dynamic Foods-Definitions, Considerations, and Current Scientific Status

Since its conception, the application of 3D printing in the structuring of food materials has been focused on the processing of novel material formulations and customized textures for innovative food applications, such as personalized nutrition and full sensory design. The continuous evolution of the used methods, approaches, and materials has created a solid foundation for technology to process dynamic food structures. Four-dimensional food printing is an extension of 3D printing where food structures are designed and printed to perform time-dependent changes activated by internal or external stimuli. In 4D food printing, structures are engineered through material tailoring and custom designs to achieve a transformation from one configuration to another. Different engineered 4D behaviors include stimulated color change, shape morphing, and biological growth. As 4D food printing is considered an emerging application, imperatively, this article proposes new considerations and definitions in 4D food printing. Moreover, this article presents an overview of 4D food printing within the current scientific progress, status, and approaches.

A New Strategy for Achieving Shape Memory Effects in 4D Printed Two-Layer Composite Structures

In this study, a new strategy and design for achieving a shape memory effect (SME) and 4D printed two-layer composite structures is unveiled, thanks to fused deposition modeling (FDM) biomaterial printing of commercial filaments, which do not have an SME. We used ABS and PCL as two well-known thermoplastics, and TPU as elastomer filaments that were printed in a two-layer structure. The thermoplastic layer plays the role of constraint for the elastomeric layer. A rubber-to-glass transition of the thermoplastic layer acts as a switching phenomenon that provides the capability of stabilizing the temporary shape, as well as storing the deformation stress for the subsequent recovery of the permanent shape by phase changing the thermoplastic layer in the opposite direction. The results show that ABS-TPU had fixity and recovery ratios above 90%. The PCL-TPU composite structure also demonstrated complete recovery, but its fixity was 77.42%. The difference in the SME of the two composite structures is related to the transition for each thermoplastic and programming temperature. Additionally, in the early cycles, the shape-memory performance decreased, and in the fourth and fifth cycles, it almost stabilized. The scanning electron microscopy (SEM) photographs illustrated superior interfacial bonding and part integrity in the case of multi-material 3D printing.

Programmable Thermo-Responsive Self-Morphing Structures Design and Performance

Additive manufacturing (AM), also known as 3D printing, was introduced to design complicated structures/geometries that overcome the manufacturability limitations of traditional manufacturing processes. However, like any other manufacturing technique, AM also has its limitations, such as the need of support structures for overhangs, long build time etc. To overcome these limitations of 3D printing, 4D printing was introduced, which utilizes smart materials and processes to create shapeshifting structures with the external stimuli, such as temperature, humidity, magnetism, etc. The state-of-the-art 4D printing technology focuses on the "form" of the 4D prints through the multi-material variability. However, the quantitative morphing analysis is largely absent in the existing literature on 4D printing. In this research, the inherited material anisotropic behaviors from the AM processes are utilized to drive the morphing behaviors. In addition, the quantitative morphing analysis is performed for designing and controlling the shapeshifting. A material-process-performance 4D printing prediction framework has been developed through a novel dual-way multi-dimensional machine learning model. The morphing evaluation metrics, bending angle and curvature, are obtained and archived at 99% and 93.5% R², respectively. Based on the proposed method, the material and production time consumption can be reduced by around 65-90%, which justifies that the proposed method can re-imagine the digital-physical production cycle.

Design, fabrication and application of self-spiraling pattern-driven 4D-printed actuator

Self-spiraling actuators are widely found in nature and have high research and actuator-application value in self-lock and self-assembly. Four-dimensional (4D) printing is a new generation additive manufacturing of smart materials and has shown great potential for the fabrication of multi-functional and customized structures. The microarchitecture design of a bilayer actuator could bring flexible and diversified self-spiraling behaviors and more possibilities for practical application by combing 4D printing. This work investigates the stimuli effects of fiber patterns and fabrication parameters on self-spiraling behaviors of the bilayer actuator via both experimental and theoretical methods. This work may potentially provide pattern design guidance for 4D-printed self-spiraling actuators to meet different application requirements.

On the Evolution of Additive Manufacturing (3D/4D Printing) Technologies: Materials, Applications, and Challenges

The scientific community is and has constantly been working to innovate and improve the available technologies in our use. In that effort, three-dimensional (3D) printing was developed that can construct 3D objects from a digital file. Three-dimensional printing, also known as additive manufacturing (AM), has seen tremendous growth over the last three decades, and in the last five years, its application has widened significantly. Three-dimensional printing technology has the potential to fill the gaps left by the limitations of the current manufacturing technologies, and it has further become exciting with the addition of a time dimension giving rise to the concept of four-dimensional (4D) printing, which essentially means that the structures created by 4D printing undergo a transformation over time under the influence of internal or external stimuli. The created objects are able to adapt to changing environmental variables such as moisture, temperature, light, pH value, etc. Since their introduction, 3D and 4D printing technologies have extensively been used in the healthcare, aerospace, construction, and fashion industries. Although 3D printing has a highly promising future, there are still a number of challenges that must be solved before the technology can advance. In this paper, we reviewed the recent advances in 3D and 4D printing technologies, the available and potential materials for use, and their current and potential future applications. The current and potential role of 3D printing in the imperative fight against COVID-19 is also discussed. Moreover, the major challenges and developments in overcoming those challenges are addressed. This document provides a cutting-edge review of the materials, applications, and challenges in 3D and 4D printing technologies.

Advances in 4D printing of liquid crystalline elastomers: materials, techniques, and applications

Liquid crystalline elastomers (LCEs) are polymer networks exhibiting anisotropic liquid crystallinity while maintaining elastomeric properties. Owing to diverse polymeric forms and self-alignment molecular behaviors, LCEs have fascinated state-of-the-art efforts in various disciplines other than the traditional low-molar-mass display market. By patterning order to structures, LCEs demonstrate reversible high-speed and large-scale actuations in response to external stimuli, allowing for close integration with 4D printing and architectures of digital devices, which is scarcely observed in homogeneous soft polymer networks. In this review, we collect recent advances in 4D printing of LCEs, with emphases on synthesis and processing methods that enable microscopic changes in the molecular orientation and hence macroscopic changes in the properties of end-use objects. Promising potentials of printed complexes include fields of soft robotics, optics, and biomedical devices. Within this scope, we elucidate the relationships among external stimuli, tailorable morphologies in mesophases of liquid crystals, and programmable topological configurations of printed parts. Lastly, perspectives and potential challenges facing 4D printing of LCEs are discussed.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Mono-Material 4D Printing of Digital Shape-Memory Components

Dynamic shading systems in buildings help reduce solar gain. Actuated systems, which depend on renewable energy with reduced mechanical parts, further reduce building energy consumption compared to traditional interactive systems. This paper investigates stimuli-responsive polymer application in architectural products for sustainable energy consumption, complying with sustainable development goals (SDGs). The proposed research method posits that, by varying the infill percentage in a pre-determined manner inside a 3D-printed mono-material component, directionally controlled shape change can be detected due to thermal stimuli application. Thus, motion behavior can be engineered into a material. In this study, PLA+, PETG, TPU and PA 6 printed components are investigated under a thermal cycle test to identify a thermally responsive shape-memory polymer candidate that actuates within the built environment temperature range. A differential scanning calorimetry (DSC) test is carried out on TPU 95A and PA 6 to interpret the material shape response in terms of transitional temperatures. All materials tested show an anisotropic shape-change reaction in a pre-programmed manner, complying with the behavior engineered into the matter. Four-dimensional (4D)-printed PA6 shows shape-shifting behavior and total recovery to initial position within the built environment temperature range.

Preparation of Smart Materials by Additive Manufacturing Technologies: A Review

Over the last few decades, advanced manufacturing and additive printing technologies have made incredible inroads into the fields of engineering, transportation, and healthcare. Among additive manufacturing technologies, 3D printing is gradually emerging as a powerful technique owing to a combination of attractive features, such as fast prototyping, fabrication of complex designs/structures, minimization of waste generation, and easy mass customization. Of late, 4D printing has also been initiated, which is the sophisticated version of the 3D printing. It has an extra advantageous feature: retaining shape memory and being able to provide instructions to the printed parts on how to move or adapt under some environmental conditions, such as, water, wind, light, temperature, or other environmental stimuli. This advanced printing utilizes the response of smart manufactured materials, which offer the capability of changing shapes postproduction over application of any forms of energy. The potential application of 4D printing in the biomedical field is huge. Here, the technology could be applied to tissue engineering, medicine, and configuration of smart biomedical devices. Various characteristics of next generation additive printings, namely 3D and 4D printings, and their use in enhancing the manufacturing domain, their development, and some of the applications have been discussed. Special materials with piezoelectric properties and shape-changing characteristics have also been discussed in comparison with conventional material options for additive printing.

Smart and Biomimetic 3D and 4D Printed Composite Hydrogels: Opportunities for Different Biomedical Applications

In recent years, smart/stimuli-responsive hydrogels have drawn tremendous attention for their varied applications, mainly in the biomedical field. These hydrogels are derived from different natural and synthetic polymers but are also composite with various organic and nano-organic fillers. The basic functions of smart hydrogels rely on their ability to change behavior; functions include mechanical, swelling, shaping, hydrophilicity, and bioactivity in response to external stimuli such as temperature, pH, magnetic field, electromagnetic radiation, and biological molecules. Depending on the final applications, smart hydrogels can be processed in different geometries and modalities to meet the complicated situations in biological media, namely, injectable hydrogels (following the sol-gel transition), colloidal nano and microgels, and three dimensional (3D) printed gel constructs. In recent decades smart hydrogels have opened a new horizon for scientists to fabricate biomimetic customized biomaterials for tissue engineering, cancer therapy, wound dressing, soft robotic actuators, and controlled release of bioactive substances/drugs. Remarkably, 4D bioprinting, a newly emerged technology/concept, aims to rationally design 3D patterned biological matrices from synthesized hydrogel-based inks with the ability to change structure under stimuli. This technology has enlarged the applicability of engineered smart hydrogels and hydrogel composites in biomedical fields. This paper aims to review stimuli-responsive hydrogels according to the kinds of external changes and t recent applications in biomedical and 4D bioprinting.

Tunable network sound absorber based on additive manufacturing

Broadband sound absorption at low frequencies is always a challenge owing to the strong penetrability of acoustic waves. Combining detuned components, such as coupling curled Fabry-Pérot channels, has been proposed for broadband sound absorption. However, the components of the structure are generally arranged in parallel, so that it is difficult to assemble channels with gradient lengths into a compact and thin absorber. Tube networks, which can be seen as broadband and low-frequency sound absorbers, can circumvent this problem. However, the network absorber can only work at fixed frequencies once fabricated. Here, we propose a tunable low-frequency sound absorber consisting of honeycomb plates and detached chips and fabricate it by additive manufacturing. By replacing chips of the sound absorber, we experimentally validate different sound absorption spectrums. A low reduced frequency model and genetic algorithm are developed to design the chips according to targeted absorption spectrums. Moreover, we theoretically study the impact of radius of tube on sound absorption and extend the two-dimensional network to a three-dimensional structure. The remarkable efficiency and versatility of the tunable network sound absorber may pave the way for programmed absorbing material design.

Engineering (Bio)Materials through Shrinkage and Expansion

Although various (bio)fabrication technologies have achieved revolutionary progress in the past decades, engineered constructs still fall short of expectations owing to their inability to attain precisely designable functions. Shrinkable and expandable (bio)materials feature unique characteristics leading to size-/shape-shifting and thus have exhibited a strong potential to equip current engineering technologies with promoted capacities toward applications in biomedicine. In this progress report, the advances of size-/shape-shifting (bio)materials enabled by various stimuli, are evaluated; furthermore, representative biomedical applications associated with size-/shape-shifting (bio)materials are also exemplified. Toward the future, the combination of size-/shape-shifting (bio)materials and 3D/4D fabrication technologies presents a wide range of possibilities for further development of intricate functional architectures.

Mechanically Robust and UV-Curable Shape-Memory Polymers for Digital Light Processing Based 4D Printing

4D printing is an emerging fabrication technology that enables 3D printed structures to change configuration over "time" in response to an environmental stimulus. Compared with other soft active materials used for 4D printing, shape-memory polymers (SMPs) have higher stiffness, and are compatible with various 3D printing technologies. Among them, ultraviolet (UV)-curable SMPs are compatible with Digital Light Processing (DLP)-based 3D printing to fabricate SMP-based structures with complex geometry and high-resolution. However, UV-curable SMPs have limitations in terms of mechanical performance, which significantly constrains their application ranges. Here, a mechanically robust and UV-curable SMP system is reported, which is highly deformable, fatigue resistant, and compatible with DLP-based 3D printing, to fabricate high-resolution (up to 2 µm), highly complex 3D structures that exhibit large shape change (up to 1240%) upon heating. More importantly, the developed SMP system exhibits excellent fatigue resistance and can be repeatedly loaded more than 10 000 times. The development of the mechanically robust and UV-curable SMPs significantly improves the mechanical performance of the SMP-based 4D printing structures, which allows them to be applied to engineering applications such as aerospace, smart furniture, and soft robots.

Freeform 3D printing of soft matters: recent advances in technology for biomedical engineering

In the last decade, an emerging three-dimensional (3D) printing technique named freeform 3D printing has revolutionized the biomedical engineering field by allowing soft matters with or without cells to be printed and solidified with high precision regardless of their poor self-supportability. The key to this freeform 3D printing technology is the supporting matrices that hold the printed soft ink materials during omnidirectional writing and solidification. This approach not only overcomes structural design restrictions of conventional layer-by-layer printing but also helps to realize 3D printing of low-viscosity or slow-curing materials. This article focuses on the recent developments in freeform 3D printing of soft matters such as hydrogels, cells, and silicone elastomers, for biomedical engineering. Herein, we classify the reported freeform 3D printing systems into positive, negative, and functional based on the fabrication process, and discuss the rheological requirements of the supporting matrix in accordance with the rheological behavior of counterpart inks, aiming to guide development and evaluation of new freeform printing systems. We also provide a brief overview of various material systems used as supporting matrices for freeform 3D printing systems and explore the potential applications of freeform 3D printing systems in different areas of biomedical engineering.

Materials and technical innovations in 3D printing in biomedical applications

3D printing is a rapidly growing research area, which significantly contributes to major innovations in various fields of engineering, science, and medicine. Although the scientific advancement of 3D printing technologies has enabled the development of complex geometries, there is still an increasing demand for innovative 3D printing techniques and materials to address the challenges in building speed and accuracy, surface finish, stability, and functionality. In this review, we introduce and review the recent developments in novel materials and 3D printing techniques to address the needs of the conventional 3D printing methodologies, especially in biomedical applications, such as printing speed, cell growth feasibility, and complex shape achievement. A comparative study of these materials and technologies with respect to the 3D printing parameters will be provided for selecting a suitable application-based 3D printing methodology. Discussion of the prospects of 3D printing materials and technologies will be finally covered.

Shape-Adaptive Metastructures with Variable Bandgap Regions by 4D Printing

This article shows how four-dimensional (4D) printing technology can engineer adaptive metastructures that exploit resonating self-bending elements to filter vibrational and acoustic noises and change filtering ranges. Fused deposition modeling (FDM) is implemented to fabricate temperature-responsive shape-memory polymer (SMP) elements with self-bending features. Experiments are conducted to reveal how the speed of the 4D printer head can affect functionally graded prestrain regime, shape recovery and self-bending characteristics of the active elements. A 3D constitutive model, along with an in-house finite element (FE) method, is developed to replicate the shape recovery and self-bending of SMP beams 4D-printed at different speeds. Furthermore, a simple approach of prestrain modeling is introduced into the commercial FE software package to simulate material tailoring and self-bending mechanism. The accuracy of the straightforward FE approach is validated against experimental observations and computational results from the in-house FE MATLAB-based code. Two periodic architected temperature-sensitive metastructures with adaptive dynamical characteristics are proposed to use bandgap engineering to forbid specific frequencies from propagating through the material. The developed computational tool is finally implemented to numerically examine how bandgap size and frequency range can be controlled and broadened. It is found out that the size and frequency range of the bandgaps are linked to changes in the geometry of self-bending elements printed at different speeds. This research is likely to advance the state-of-the-art 4D printing and unlock potentials in the design of functional metastructures for a broad range of applications in acoustic and structural engineering, including sound wave filters and waveguides.

Two-Way and Multiple-Way Shape Memory Polymers for Soft Robotics: An Overview

Shape memory polymers (SMPs) are smart materials capable of changing their shapes in a predefined manner under a proper applied stimulus and have gained considerable interest in several application fields. Particularly, two-way and multiple-way SMPs offer unique opportunities to realize untethered soft robots with programmable morphology and/or properties, repeatable actuation, and advanced multi-functionalities. This review presents the recent progress of soft robots based on two-way and multiple-way thermo-responsive SMPs. All the building blocks important for the design of such robots, i.e., the base materials, manufacturing processes, working mechanisms, and modeling and simulation tools, are covered. Moreover, examples of real-world applications of soft robots and related actuators, challenges, and future directions are discussed.

Review of Polymeric Materials in 4D Printing Biomedical Applications

The purpose of 4D printing is to embed a product design into a deformable smart material using a traditional 3D printer. The 3D printed object can be assembled or transformed into intended designs by applying certain conditions or forms of stimulation such as temperature, pressure, humidity, pH, wind, or light. Simply put, 4D printing is a continuum of 3D printing technology that is now able to print objects which change over time. In previous studies, many smart materials were shown to have 4D printing characteristics. In this paper, we specifically review the current application, respective activation methods, characteristics, and future prospects of various polymeric materials in 4D printing, which are expected to contribute to the development of 4D printing polymeric materials and technology.

Designing 3D Digital Metamaterial for Elastic Waves: From Elastic Wave Polarizer to Vibration Control

Elastic wave polarizers, which can filter out linearly polarized elastic waves from hybrid elastic waves, remain a challenge since elastic waves contain both transverse and longitudinal natures. Here, a tunable, digital, locally resonant metamaterial inspired by abacus is proposed, which consists of 3D-printed octahedral frames and built-in electromagnets. By controlling current in the electromagnets, each unit cell exhibits three digital modes, where the elastic waves have different characteristics of propagation under each mode. A variety of waveguides can be formed by a combination of the three modes and desired polarization can be further filtered out from hybrid elastic waves in a tunable manner. The underlying mechanism of these polarizer-like characteristics is investigated through a combination of theoretical analysis, numerical simulation, and experimental testing. This study provides a means of filtering out the desired wave from hybrid elastic waves, and offers promise for vibration control of particle distribution and flexible structure.

Untethered soft robotic matter with passive control of shape morphing and propulsion

There is growing interest in creating untethered soft robotic matter that can repeatedly shape-morph and self-propel in response to external stimuli. Toward this goal, we printed soft robotic matter composed of liquid crystal elastomer (LCE) bilayers with orthogonal director alignment and different nematic-to-isotropic transition temperatures (T _NI) to form active hinges that interconnect polymeric tiles. When heated above their respective actuation temperatures, the printed LCE hinges exhibit a large, reversible bending response. Their actuation response is programmed by varying their chemistry and printed architecture. Through an integrated design and additive manufacturing approach, we created passively controlled, untethered soft robotic matter that adopts task-specific configurations on demand, including a self-twisting origami polyhedron that exhibits three stable configurations and a "rollbot" that assembles into a pentagonal prism and self-rolls in programmed responses to thermal stimuli.

4D printing and stimuli-responsive materials in biomedical aspects

Three-dimensional (3D) printing has revolutionized the world manufacturing production. In biomedical applications, however, 3D printed constructs fell short of expectations mainly due to their inability to adequately mimic the dynamic human tissues. To date, most of the 3D printed biomedical structures are largely static and inanimate as they lack the time-dependant dimension. To adequately address the dynamic healing and regeneration process of human tissues, 4D printing emerges as an important development where "time" is incorporated into the conventional concept of 3D printing as the fourth dimension. As such, additive manufacturing (AM) evolves from 3D to 4D printing and in the process putting stimulus-responsive materials in the limelight. In this review, the state-of-the-art efforts in integrating the time-dependent behaviour of stimulus-responsive materials in 4D printing will be discussed. In addition, current literatures on the interactions between various types of stimuli (categorized under physical, chemical and biological signals) with the associated stimulus-responsive materials will be the major focus in this review. Lastly, potential usage of 4D printing in biomedical applications will also be discussed, followed by technical considerations as well as outlook for future discoveries. STATEMENT OF SIGNIFICANCE: In this Review, we have demonstrated the significance of 4D printing in biomedical applications, in which "time" has been incorporated into the conventional concept of 3D printing as the 4th dimension. As such, 4D printing differentiates and evolves from 3D printing using stimulus-responsive materials which can actively respond to external stimuli and more sophisticated "hardware"-printer which can achieve multi-printing via mathematical-predicted designs that are programmed to consider the transformation of 3D constructs over time. The emphasize will be on the interactions between various types of stimuli (categorized under physical, chemical and biological signals) with the associated stimulus-responsive materials, followed by technical considerations as well as outlook for future discoveries.

Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions

Surgical robots have been extensively researched for a wide range of surgical procedures due to the advantages of improved precision, sensing capabilities, motion scaling, and tremor reduction, to name a few. Though the underlying disease condition or pathology may be the same across patients, the intervention approach to treat the condition can vary significantly across patients. This is especially true for endovascular interventions, where each case brings forth its own challenges. Hence it is critical to develop patient-specific surgical robotic systems to maximize the benefits of robot-assisted surgery. Manufacturing patient-specific robots can be challenging for complex procedures and furthermore the time required to build them can be a challenge. To overcome this challenge, additive manufacturing, namely 3D-printing, is a promising solution. 3D-printing enables fabrication of complex parts precisely and efficiently. Although 3D-printing techniques have been researched for general medical applications, patient-specific surgical robots are currently in their infancy. After reviewing the state-of-the-art in 3D-printed surgical robots, this paper discusses 3D-printing techniques that could potentially satisfy the stringent requirements for surgical interventions. We also present the accomplishments in our group in developing 3D-printed surgical robots for neurosurgical and cardiovascular interventions. Finally, we discuss the challenges in developing 3D-printed surgical robots and provide our perspectives on future research directions.

4D Printing Self-Morphing Structures

The main objective of this paper is to introduce complex structures with self-bending/morphing/rolling features fabricated by 4D printing technology, and replicate their thermo-mechanical behaviors using a simple computational tool. Fused deposition modeling (FDM) is implemented to fabricate adaptive composite structures with performance-driven functionality built directly into materials. Structural primitives with self-bending 1D-to-2D features are first developed by functionally graded 4D printing. They are then employed as actuation elements to design complex structures that show 2D-to-3D shape-shifting by self-bending/morphing. The effects of printing speed on the self-bending/morphing characteristics are investigated in detail. Thermo-mechanical behaviors of the 4D-printed structures are simulated by introducing a straightforward method into the commercial finite element (FE) software package of Abaqus that is much simpler than writing a user-defined material subroutine or an in-house FE code. The high accuracy of the proposed method is verified by a comparison study with experiments and numerical results obtained from an in-house FE solution. Finally, the developed digital tool is implemented to engineer several practical self-morphing/rolling structures.

Multi-metal 4D printing with a desktop electrochemical 3D printer

4D printing has the potential to create complex 3D geometries which are able to react to environmental stimuli opening new design possibilities. However, the vast majority of 4D printing approaches use polymer based materials, which limits the operational temperature. Here, we present a novel multi-metal electrochemical 3D printer which is able to fabricate bimetallic geometries and through the selective deposition of different metals, temperature responsive behaviour can thus be programmed into the printed structure. The concept is demonstrated through a meniscus confined electrochemical 3D printing approach with a multi-print head design with nickel and copper used as exemplar systems but this is transferable to other deposition solutions. Improvements in deposition speed (34% (Cu)-85% (Ni)) are demonstrated with an electrospun nanofibre nib compared to a sponge based approach as the medium for providing hydrostatic back pressure to balance surface tension in order to form a electrolyte meniscus stable. Scanning electron microscopy, X-ray computed tomography and energy dispersive X-ray spectroscopy shows that bimetallic structures with a tightly bound interface can be created, however convex cross sections are created due to uneven current density. Analysis of the thermo-mechanical properties of the printed strips shows that mechanical deformations can be generated in Cu-Ni strips at temperatures up to 300 °C which is due to the thermal expansion coefficient mismatch generating internal stresses in the printed structures. Electrical conductivity measurements show that the bimetallic structures have a conductivity between those of nanocrystalline copper (5.41 × 106 S.m-1) and nickel (8.2 × 105 S.m-1). The potential of this novel low-cost multi-metal 3D printing approach is demonstrated with the thermal actuation of an electrical circuit and a range of self-assembling structures.

Photoactivated Polymeric Bilayer Actuators Fabricated via 3D Printing

4D printing is an emerging additive manufacturing technology that combines the precision of 3D printing with the versatility of smart materials. 4D printed objects can change their shape over time with the application of a stimulus (i.e., heat, light, moisture). Light driven smart materials are attractive because light is wireless, remote, and can induce a rapid shape change. Herein, we present a method for fabricating polymeric bilayer actuators via 3D printing which reversibly change their shape upon exposure to light. The photoactive layer consists of a poly(siloxane) containing pendant azobenzene groups. Two different photoactive polymers were synthesized, and the photomechanical effect displayed by the bilayers was evaluated. These bilayers exhibit rapid actuation with full cycles completed within seconds, and photo generated stresses ranging from 1.03 to 1.70 MPa.

Bioinspired Temperature-Responsive Multilayer Films and Their Performance under Thermal Fatigue

The structure of certain nonliving tissues determines their self-shaping and self-folding capabilities in response to a stimulus. Predetermined movements are realized according to changes in the environmental conditions due to the generated stresses of the multilayer anisotropic structure. In this study, we present bioinspired responsive anisotropic multilayer films and their fabrication process which comprises low-cost techniques. The anisotropic multilayer materials are capable of deforming their geometry caused by small temperature changes (<40 °C). The mismatch in the thermo-mechanical properties between three or more anisotropic thin layers creates responsive materials that alter their shape owing to the developed internal stresses. The movements of the material can be controlled by forming anisotropic homogenous metallic strips over an anisotropic thermoplastic layer. As a result, responsive multilayer films made of common materials can be developed to passively react to a temperature stimulus. We demonstrate the ability of the anisotropic materials to transform their geometry and we present a promising fabrication process and the thermal fatigue resistance of the developed materials. The thermal fatigue performance is strongly related to the fabrication method and the thickness of the strips. We studied the thermal fatigue performance of the materials and how the thermal cycling affects their sensitivity, as well as their failure modes and crack formation.

Printing ferromagnetic domains for untethered fast-transforming soft materials

Soft materials capable of transforming between three-dimensional (3D) shapes in response to stimuli such as light, heat, solvent, electric and magnetic fields have applications in diverse areas such as flexible electronics^1,2, soft robotics^3,4 and biomedicine^5-7. In particular, magnetic fields offer a safe and effective manipulation method for biomedical applications, which typically require remote actuation in enclosed and confined spaces^8-10. With advances in magnetic field control ¹¹ , magnetically responsive soft materials have also evolved from embedding discrete magnets ¹² or incorporating magnetic particles ¹³ into soft compounds to generating nonuniform magnetization profiles in polymeric sheets^14,15. Here we report 3D printing of programmed ferromagnetic domains in soft materials that enable fast transformations between complex 3D shapes via magnetic actuation. Our approach is based on direct ink writing ¹⁶ of an elastomer composite containing ferromagnetic microparticles. By applying a magnetic field to the dispensing nozzle while printing ¹⁷ , we reorient particles along the applied field to impart patterned magnetic polarity to printed filaments. This method allows us to program ferromagnetic domains in complex 3D-printed soft materials, enabling a set of previously inaccessible modes of transformation, such as remotely controlled auxetic behaviours of mechanical metamaterials with negative Poisson's ratios. The actuation speed and power density of our printed soft materials with programmed ferromagnetic domains are orders of magnitude greater than existing 3D-printed active materials. We further demonstrate diverse functions derived from complex shape changes, including reconfigurable soft electronics, a mechanical metamaterial that can jump and a soft robot that crawls, rolls, catches fast-moving objects and transports a pharmaceutical dose.

Effect of Ultrasonic Vibration on Mechanical Properties of 3D Printing Non-Crystalline and Semi-Crystalline Polymers

Fused deposition modeling 3D printing has become the most widely used additive manufacturing technology because of its low manufacturing cost and simple manufacturing process. However, the mechanical properties of the 3D printing parts are not satisfactory. Certain pressure and ultrasonic vibration were applied to 3D printed samples to study the effect on the mechanical properties of 3D printed non-crystalline and semi-crystalline polymers. The tensile strength of the semi-crystalline polymer polylactic acid was increased by 22.83% and the bending strength was increased by 49.05%, which were almost twice the percentage increase in the tensile strength and five times the percentage increase in the bending strength of the non-crystalline polymer acrylonitrile butadiene styrene with ultrasonic strengthening. The dynamic mechanical properties of the non-crystalline and semi-crystalline polymers were both improved after ultrasonic enhancement. Employing ultrasonic energy can significantly improve the mechanical properties of samples without modifying the 3D printed material or adjusting the forming process parameters.

Soft Tendril-Inspired Grippers: Shape Morphing of Programmable Polymer-Paper Bilayer Composites

Nastic movements in plants that occur in response to environmental stimuli have inspired many man-made shape-morphing systems. Tendril is an exemplification serving as a parasitic grasping component for the climbing plants by transforming from a straight shape into a coiled configuration via the asymmetric contraction of internal stratiform plant tissues. Inspired by tendrils, this study using a three-dimensional (3D) printing approach developed a class of soft grippers with preprogrammed deformations being capable of imitating the general motions of plant tendrils, including bending, spiral, and helical distortions for grasping. These grippers initially in flat configurations were tailored from a polymer-paper bilayer composite sheet fabricated via 3D printing a polymer on the paper substrate with different patterns. The rough and porous paper surface provides a printed polymer that is well-adhered to the paper substrate which in turn serves as a passive strain-limiting layer. During printing, the melted polymer filament is stretched, enabling the internal strain to be stored in the printed polymer as memory, and then it can be thermally released, which will be concurrently resisted by the paper layer, resulting in various transformations based on the different printed geometries. These obtained transformations were then used for designing grippers to grasp objects with corresponding motions. Furthermore, a fully equipped robotic tendril with three segments was reproduced, where one segment was used for grasping the object and the other two segments were used for forming a tendril-like twistless spring-like structure. This study further helps in the development of soft robots using active polymer materials for engineered systems.

4D printing of polymeric materials for tissue and organ regeneration

Four dimensional (4D) printing is an emerging technology with great capacity for fabricating complex, stimuli-responsive 3D structures, providing great potential for tissue and organ engineering applications. Although the 4D concept was first highlighted in 2013, extensive research has rapidly developed, along with more-in-depth understanding and assertions regarding the definition of 4D. In this review, we begin by establishing the criteria of 4D printing, followed by an extensive summary of state-of-the-art technological advances in the field. Both transformation-preprogrammed 4D printing and 4D printing of shape memory polymers are intensively surveyed. Afterwards we will explore and discuss the applications of 4D printing in tissue and organ regeneration, such as developing synthetic tissues and implantable scaffolds, as well as future perspectives and conclusions.

Precise Engineering of Conductive Pathway by Frictional Direct-Writing for Ultrasensitive Flexible Strain Sensors

Highly sensitive strain sensors that can detect small strain are in high demand in the fields of displays, robotics, fatigue detection, body monitoring, in vitro diagnostics, and advanced therapies. However, resistive-type sensors that are composed of electrically conductive sensing films coupled with flexible substrates suffer from the limits that their gauge factors (GFs) at small strains (e.g., 0.1-1%) are not high. Herein, through frictional direct-writing of graphite rod on the composite paper substrates, we produced strain sensors with extremely high gauge factor at small strains. The sensors exhibited a gauge factor of 9720 at a small strain of 0.9%, minimum strain detection up to 0.05%, strain resolution of 0.05%, response time of 40 ms, and high stability (>5000 bending-unbending cycles). Compared with the literature results so far, our sensors hold the highest GF value at small strains. Such high sensitivities are due to the precise control of narrow two-dimensional percolative conductive pathway, which means the content of conductive graphite sheets is close to the conductive percolation threshold. The strain sensors have a rapid response to microdeformation changes and can monitor various structural changes, including human motion, through facilitative and effective installation of device designs.

3D-Printed Self-Folding Electronics

Self-transforming structures are gaining prominence due to their general ability to adopt programmed shapes each tailored for specific functions. Composites that self-fold have so far relied on using the stimuli-responsive mechanisms focusing on reversible shape change. Integrating additional functions within these composites can rapidly enhance their practical applicability; however, this remains a challenging problem. Here, we demonstrate a method for spontaneous folding of three-dimensional (3D)-printed composites with embedded electronics at room temperature. The composite is printed using a multimaterial 3D-printing process with no external processing steps. Upon peeling from the print platform, the composite self-shapes itself using the residual forces resulting from polymer swelling during the layer-by-layer fabrication process. As a specific example, electrochromic elements are printed within the composite and can be electrically controlled through its folded legs. Our shape-transformation scheme provides a route to transform planar electronics into nonplanar geometries containing the overhangs. Integrating electronics within complex 3D shapes can enable new applications in sensing and robotics.

3D printed reversible shape changing soft actuators assisted by liquid crystal elastomers

In this work, we advance printed active composites by combining 3D printing, printed electronics, and liquid crystal elastomers (LCEs) to achieve soft actuators with free-standing two-way shape changing behaviors. Incorporated LCE strips are activated by Joule heating produced by printed conductive wires, while uniaxial deformation of the LCE strip is utilized as a driving force to achieve bending in the printed composite. The bending behavior of laminated hinges is first characterized in order to obtain a precise control of actuation, which is then exploited to actuate four demonstrative designs: a morphing airplane, a miura-ori structure, a cubic box, and a soft crawler. The soft morphing airplane and miura-ori structure are designed and fabricated with multiple laminated hinges to demonstrate the synergistic actions during actuation. The cubic box is constructed to show the capability of sequential folding by implementing multiple groups of conductive wires to achieve accurately addressable heating with temporal control. Finally, the two-way transformation is utilized as a driving force for the locomotion of a soft crawler stimulated by a periodic rectangular wave current. These examples show the great potential of using the hybrid 3D printing and pick-and-place method and using LCEs to achieve controllable shape change structures for a variety of potential practical applications.

Direct 4D printing via active composite materials

We describe an approach to print composite polymers in high-resolution three-dimensional (3D) architectures that can be rapidly transformed to a new permanent configuration directly by heating. The permanent shape of a component results from the programmed time evolution of the printed shape upon heating via the design of the architecture and process parameters of a composite consisting of a glassy shape memory polymer and an elastomer that is programmed with a built-in compressive strain during photopolymerization. Upon heating, the shape memory polymer softens, releases the constraint on the strained elastomer, and allows the object to transform into a new permanent shape, which can then be reprogrammed into multiple subsequent shapes. Our key advance, the markedly simplified creation of high-resolution complex 3D reprogrammable structures, promises to enable myriad applications across domains, including medical technology, aerospace, and consumer products, and even suggests a new paradigm in product design, where components are simultaneously designed to inhabit multiple configurations during service.

Tunable Digital Metamaterial for Broadband Vibration Isolation at Low Frequency

A 3D-printed digital metamaterial embedded with electromagnets is fabricated. Switching electromagnets between the attaching (1 bit) and detaching (0 bit) modes activates different waveguides in the metamaterial. The underlying mechanism is investigated theoretically and experimentally. The hierarchical assemblies of unit cells, mimicking digital bits, allow programmable broadening of the bandgap of the metamaterial.