Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

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.

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.

Left-Handed or Right-Handed? Determinants of the Chirality of Helically Deformable Soft Actuators

Helical curling and spiral structure are very common in nature, which inspire researchers to create various forms of helical configurations and actuators. The helically deformable actuators perform asymmetric deformations and show different chirality, which means that they can be left handed or right handed. However, the mechanism of helical curling and especially how the key factors influence the chirality of the actuator have not been systematically explained and well understood. In this study, we focus on the typical double-layer soft actuator composed of an active (expansion) layer and a passive (supporting) layer and investigate the effect of key factors (expansion coefficient, Young's modulus, relative thickness) on the chirality of the helical actuation or morphing by comprehensive finite element analyses. It was found that (i) the anisotropic expansion of the active layer or (ii) the anisotropic Young's modulus of the active or the passive layer is indispensable for helical curling. In Case (i), the actuator curls along the direction of greater expansion of the active layer. In Case (ii), the actuator curls along the direction of closer moduli match of the active and passive layers, and their relative thickness also affects the helical morphing of the actuator. In practice, the above two factors may cooperate or compete with each other, and the dominant one determines the chirality. This work gives the general rules for helical morphing forms and can provide guidance for the design and preparation of spiral actuators and soft robots in the future.

Thermo-Responsive Hydrogel-Based Soft Valves with Annular Actuation Calibration and Circumferential Gripping

Valves are largely useful for treatment assistance devices, e.g., supporting fluid circulation movement in the human body. However, the valves presently used in biomedical applications still use materials that are rigid, non-compliant, and hard to integrate with human tissues. Here, we propose biologically-inspired, stimuli-responsive valves and evaluate N-Isopropylacrylamide hydrogels-based valve (NPHV) and PAAm-alginate hydrogels-based valve (PAHV) performances with different chemical syntheses for optimizing better valve action. Once heated at 40 ∘C, the NPHV outperforms the PAHV in annular actuation (NPHV: 1.93 mm displacement in 4 min; PAHV: 0.8 mm displacement in 30 min). In contrast, the PAHV exhibits a flow rate change of up to 20%, and a payload of 100% when the object is at 100 ∘C. The PAHV demonstrated a completely soft, stretchable circular gripper with a high load-to-weight ratio for diversified applications. These valves are fabricated with a simple one-pot method that, once further optimized, can offer transdisciplinary applications.

Programmable and reprocessable multifunctional elastomeric sheets for soft origami robots

Tunable, soft, and multifunctional robots are contributing to developments in medical and rehabilitative robotics, human-machine interaction, and intelligent home technology. A key aspect of soft robot fabrication is the ability to use flexible and efficient schemes to enable the seamless and simultaneous integration of configurable structures. Here, we report a strategy for programming design features and functions in elastomeric surfaces. We selectively modified these elastomeric surfaces via laser scanning and then penetrated them with an active particle-infused solvent to enable controllable deformation, folding, and functionality integration. The functionality of the elastomers can be erased by a solvent retreatment and reprocessed by repeating the active particle infusion process. We established a platform technique for fabricating programmable and reprocessable elastomeric sheets by varying detailed morphology patterns and active particles. We used this technique to produce functional soft ferromagnetic origami robots with seamlessly integrated structures and various active functions, such as robots that mimic flowers with petals bent at different angles and with different curvatures, low-friction swimming robots, multimode locomotion carriers with gradient-stiffness claws for protecting and delivering objects, and frog-like robots with adaptive switchable coloration that responds to external thermal and optical stimuli.

Programmable soft electrothermal actuators based on free-form printing of the embedded heater

In recent years, there has been an increasing interest in the research in soft actuators that exhibit complex programmable deformations. Soft electrothermal actuators use electricity as the stimulus to generate heat, and the mismatch between the thermal expansions of the two structural layers causes the actuator to bend. Complex programmable deformations of soft electrothermal actuators are difficult due to the limitations of the conventional fabrication methods. In this article, we report a new approach to fabricate soft electrothermal actuators, in which the resistive heater of the electrothermal actuator is directly printed using electrohydrodynamic (EHD) printing. The direct patterning capabilities of EHD printing allow the free-form design of the heater. By changing the design of the heating pattern on the actuator, different heat distributions can be achieved and utilized to realize complex programmable deformations, including uniform bending, customized bending, folding, and twisting. Finite element analysis (FEA) was used to validate the thermal distribution and deformation for different actuator designs. Lastly, several integrated demonstrations are presented, including complex structures obtained from folding, a two-degree-of-freedom soft robotic arm, and soft walkers.

Development of an Electroactive Hydrogel as a Scaffold for Excitable Tissues

For many cells used in tissue engineering applications, the scaffolds upon which they are seeded do not entirely mimic their native environment, particularly in the case of excitable tissues. For instance, muscle cells experience contraction and relaxation driven by the electrical input of an action potential. Electroactive materials can also deform in response to electrical input; however, few such materials are currently suitable as cell scaffolds. We previously described the development of poly(ethyelene glycol) diacrylate-poly(acrylic acid) as an electroactive scaffold. Although the scaffold itself supported cell growth and attachment, the voltage (20 V) required to actuate these scaffolds was cytotoxic. Here, we describe the further development of our hydrogels into scaffolds capable of actuation at voltages (5 V) that were not cytotoxic to seeded cells. This study describes the critical next steps towards the first functional electroactive tissue engineering scaffold.

Nanofibrous Actuator with an Alignment Gradient for Millisecond-Responsive, Multidirectional, Multimodal, and Multidimensional Large Deformation

Although progress has been made in the construction of stimulus-responsive actuators, the performance of these smart materials is still unsatisfactory, owing to their slow response, small deformation amplitude, uncontrollable bending direction, and unidirectional (2D to 3D) transformation. Herein, we employ a structural bionic strategy to design and fabricate a novel water/moisture responsive nanofibrous actuator with an alignment degree gradient. Owing to its different contraction gradient amplitudes along the thickness direction and the unique physical property of the nanofibrous material, the prepared actuator exhibits excellent shape deformation performance, including superfast response (less than 150 ms), controllable deformation directions, multiple actuation models, multiple dimensional deformation (0D-3D, 1D-3D, 2D-3D, and 3D-3D), large bending curvature (25.3 cm^-1), and a repeatability rate of at least 1000. The actuation performance of the nanofibrous actuator is superior to the currently reported actuators. The nanofibers are integrated into layer-by-layer and side-by-side structures to achieve competitive and independent actuation, respectively. The outstanding shape-changing properties of the nanofibrous actuator result in the construction of practical intelligent devices for applications such as amphibious movement, intelligent protection, and cargo transportation. The nanofibrous actuator designed herein exhibits tremendous potential in soft robotics, sensors, and biomedicine.

Self-Folding 3D Silk Biomaterial Rolls to Facilitate Axon and Bone Regeneration

Biomaterial scaffold designs are needed for self-organizing features related to tissue formation while also simplifying the fabrication processes involved. Toward this goal, silk protein-based self-folding scaffolds to support 3D cell culture, while providing directional guidance and promotion of cell growth and differentiation, are reported. A simple and robust one-step self-folding approach is developed using bilayers consisting of a hydrogel and silk film in aqueous solution. The 3D silk rolls, with patterns transferred from the initially prepared 2D films, guide the directional outgrowth of neurites and also promote the osteogenic differentiation of human mesenchymal stem cells (hMSCs). The osteogenic outcomes are further supported by enhanced biomechanical performance. By utilizing this self-folding method, cocultures of neurons and hMSCs are achieved by patterning cells on silk films and then converting these materials into a 3D format with rolling, mimicking aspects of the structure of osteons and providing physiologically relevant structures to promote bone regeneration. These results demonstrate the utility of self-folded silk rolls as efficient scaffold systems for tissue regeneration, while exploiting relatively simple 2D designs programmed to form more complex 3D structures.

3D Self-Assembled Microelectronic Devices: Concepts, Materials, Applications

Modern microelectronic systems and their components are essentially 3D devices that have become smaller and lighter in order to improve performance and reduce costs. To maintain this trend, novel materials and technologies are required that provide more structural freedom in 3D over conventional microelectronics, as well as easier parallel fabrication routes while maintaining compatability with existing manufacturing methods. Self-assembly of initially planar membranes into complex 3D architectures offers a wealth of opportunities to accommodate thin-film microelectronic functionalities in devices and systems possessing improved performance and higher integration density. Existing work in this field, with a focus on components constructed from 3D self-assembly, is reviewed, and an outlook on their application potential in tomorrow's microelectronics world is provided.

Twist again: Dynamically and reversibly controllable chirality in liquid crystalline elastomer microposts

Photoresponsive liquid crystalline elastomers (LCEs) constitute ideal actuators for soft robots because their light-induced macroscopic shape changes can be harnessed to perform specific articulated motions. Conventional LCEs, however, do not typically exhibit complex modes of bending and twisting necessary to perform sophisticated maneuvers. Here, we model LCE microposts encompassing side-chain mesogens oriented along a magnetically programmed nematic director, and azobenzene cross-linkers, which determine the deformations of illuminated posts. On altering the nematic director orientation from vertical to horizontal, the post's bending respectively changes from light-seeking to light-avoiding. Moreover, both modeling and subsequent experiments show that with the director tilted at 45°, the initially achiral post reversibly twists into a right- or left-handed chiral structure, controlled by the angle of incident light. We exploit this photoinduced chirality to design "chimera" posts (encompassing two regions with distinct director orientations) that exhibit simultaneous bending and twisting, mimicking motions exhibited by the human musculoskeletal system.

Micro/nanofabrication of brittle hydrogels using 3D printed soft ultrafine fiber molds for damage-free demolding

Hydrogels are very popular in biomedical areas for their extraordinary biocompatibility. However, most bio-hydrogels are too brittle to perform micro/nanofabrication. An effective method is cast molding; yet during this process, many defects occur as the excessive demolding stress damages the brittle hydrogels. Here, we propose a brand-new damage-free demolding method and a soft ultrafine fiber mold (SUFM) to replace the traditional mold. Both mechanical and finite element analysis (FEA) reveal that SUFMs have obvious advantages especially when the contact area between hydrogel and mold gets larger. By means of a high-resolution 3D printing called electrohydrodynamic (EHD) printing, SUFMs with various topological structures can be achieved with the fiber diameter ranging from 500 nm to 100 μm, at a low cost. Microfluidics and cell patterns are implemented as the demonstration for potential applications. Owing to the tiny scale of microstructures and the hydrophilicity of hydrogels, significant capillary effect occurs which can be utilized to deliver liquid and cells autonomously and to seed cells into those ultrafine channels evenly. The results open up a new avenue for a wider use of hydrogels in biomedical devices, tissue engineering, hydrogel-based microfluidics and wearable electronics; the proposed fabrication method also has the potential to become a universal technique for micro/nanofabrication of brittle materials.

Dynamic plant-derived polysaccharide-based hydrogels

Plant-derived polysaccharides are widely used to fabricate hydrogels because of their ease of gelation and functionalization, plus exceptional biological properties. As an example, nanocellulose is a suitable candidate to fabricate hydrogels for tissue engineering applications due to its enhanced mechanical and biological properties. However, hydrogels are prone to permanent failure whilst under load without the ability to reform their networks once damaged. Recently, considerable efforts are being made to fabricate dynamic hydrogels via installation of reversible crosslinks within their networks. In this paper, we review the developments in the design of dynamic hydrogels from plant-derived polysaccharides, and discuss their applications in tissue engineering, sensors, bioelectronics devices, etc. The main goal of the paper is to elucidate how the network design of hydrogels can influence their dynamic properties: self-healing and self-recovery. Complementary to this, current challenges and prospects of dynamic plant-derived hydrogels are discussed.

Bioinspired Three-Dimensional-Printed Helical Soft Pneumatic Actuators and Their Characterization

Soft pneumatic actuators (SPAs) are widely studied and applied in the field of soft robotics. To expand their applications, the SPAs should be purpose-built to generate application-specific complex motions with multiple degrees of freedom. This article describes a new SPA consisting of a series of internal chambers with the same helix angle arranged in a row, which could generate bending and twisting motions simultaneously. The trajectory of the helical actuator was analyzed through the finite element method (FEM) by changing the angle of the chambers and the actuator length. We employed a three-dimensional printing method to directly fabricate the thin-walled and airtight helical actuators without applying any postfabrication process. The recorded trajectory of the actuator and the measured blocking force on the tipping point were compared with the corresponding simulation results from the FEM. The actuation behavior of the helical actuator has been compared with that of the actuator with zero chamber angle, but with the same size (i.e., a normal bending actuator generating a two-dimensional trajectory). It is found that the proposed helical actuator (with a maximum 2.10 N blocking force) had a higher mechanical output (or efficiency) than the normal bending actuator (with a maximum 1.19 N blocking force) under the same pressure input. We fabricated a soft helical actuator as the fingers of a four-finger gripper to grasp complex-shaped items. Furthermore, another four-finger gripper made of a hybrid actuator consisting of a half of the angled chambers and a half of the nonangled chambers was constructed to demonstrate that the proposed design and fabrication technique could be employed to establish application- and function-specific soft robotic systems.

Trends in polymeric shape memory hydrogels and hydrogel actuators

Recently, “smart” hydrogels with either shape memory behavior or reversible actuation have received particular attention and have been further developed into sensors, actuators, or artificial muscles.

A smart bottom-up strategy for fabrication of complex hydrogel constructs with 3D controllable geometric shapes through dynamic interfacial adhesion

A novel and facile dynamic interfacial adhesion (DIA) strategy has been successfully applied in the reversible fabrication of complex 3D hydrogel constructs based on dynamic covalent bonds (DCBs).

Small-Scale Biological and Artificial Multidimensional Sensors for 3D Sensing

A vast majority of existing sub-millimeter-scale sensors have a planar, 2D geometry as a result of conventional top-down lithographic procedures. However, 2D sensors often suffer from restricted sensing capability, allowing only partial measurements of 3D quantities. Here, nano/microscale sensors with different geometric (1D, 2D, and 3D) configurations are reviewed to introduce their advantages and limitations when sensing changes in quantities in 3D space. This Review categorizes sensors based on their geometric configuration and sensing capabilities. Among the sensors reviewed here, the 3D configuration sensors defined on polyhedral structures are especially advantageous when sensing spatially distributed 3D quantities. The nano- and microscale vertex configuration forming polyhedral structures enable full 3D spatial sensing due to orthogonally aligned sensing elements. Particularly, the cubic configuration leveraged in 3D sensors offers an array of diverse applications in the field of biosensing for micro-organisms and proteins, optical metamaterials for invisibility cloaking, 3D imaging, and low-power remote sensing of position and angular momentum for use in microbots. Here, various 3D sensors are compared to assess the advantages of their geometry and its impact on sensing mechanisms. 3D biosensors in nature are also explored to provide vital clues for the development of novel 3D sensors.

Hydrophilic/Hydrophobic Composite Shape-Shifting Structures

Swelling-induced shape transformation has been widely investigated and applied to the design and fabrication of smart polymer devices, such as soft robotics, biomedical devices, and origami patterns. Previous shape-shifting designs using soft hydrogels have several limitations, including relatively small actuation force, slow responsive speed, and relatively complicated fabrication process. In this paper, we develop a novel hydrophilic/hydrophobic composite structure by using photopolymers. The rubbery nature of the materials used in this composite provides desirable actuation speed and actuation force. The photocurable polymer system could be easily patterned by using the digital light processing technique. Experiments and theoretical analysis were conducted to study the actuation process. We also fabricated several three-dimensional water-responsive shape-shifting structures, including structures with sequential actuation behavior. Finally, the directional bending behavior of the hydrophilic/hydrophobic bilayer plate was investigated.

Recent Developments in Tough Hydrogels for Biomedical Applications

A hydrogel is a three-dimensional polymer network with high water content and has been attractive for many biomedical applications due to its excellent biocompatibility. However, classic hydrogels are mechanically weak and unsuitable for most physiological load-bearing situations. Thus, the development of tough hydrogels used in the biomedical field becomes critical. This work reviews various strategies to fabricate tough hydrogels with the introduction of non-covalent bonds and the construction of stretchable polymer networks and interpenetrated networks, such as the so-called double-network hydrogel. Additionally, the design of tough hydrogels for tissue adhesive, tissue engineering, and soft actuators is reviewed.

Solvent-assisted programming of flat polymer sheets into reconfigurable and self-healing 3D structures

It is extremely challenging, yet critically desirable to convert 2D plastic films into 3D structures without any assisting equipment. Taking the advantage of solvent-induced bond-exchange reaction and elastic-plastic transition, shape programming of flat vitrimer polymer sheets offers a new way to obtain 3D structures or topologies, which are hard for traditional molding to achieve. Here we show that such programming can be achieved with a pipette, a hair dryer, and a bottle of solvent. The polymer used here is very similar to the commercial epoxy, except that a small percentage of a specific catalyst is involved to facilitate the bond-exchange reaction. The programmed 3D structures can later be erased, reprogrammed, welded with others, and healed again and again, using the same solvent-assisted technique. The 3D structures can also be recycled by hot-pressing into new sheets, which can still be repeatedly programmed.

In-Gel Direct Laser Writing for 3D-Designed Hydrogel Composites That Undergo Complex Self-Shaping

Self-shaping and actuating materials inspired by biological system have enormous potential for biosensor, microrobotics, and optics. However, the control of 3D-complex microactuation is still challenging due to the difficulty in design of nonuniform internal stress of micro/nanostructures. Here, we develop in-gel direct laser writing (in-gel DLW) procedure offering a high resolution inscription whereby the two materials, resin and hydrogel, are interpenetrated on a scale smaller than the wavelength of the light. The 3D position and mechanical properties of the inscribed structures could be tailored to a resolution better than 100 nm over a wide density range. These provide an unparalleled means of inscribing a freely suspended microstructures of a second material like a skeleton into the hydrogel body and also to direct isotropic volume changes to bending and distortion motions. In the combination with a thermosensitive hydrogel rather small temperature variations could actuate large amplitude motions. This generates complex modes of motion through the rational engineering of the stresses present in the multicomponent material. More sophisticated folding design would realize a multiple, programmable actuation of soft materials. This method inspired by biological system may offer the possibility for functional soft materials capable of biomimetic actuation and photonic crystal application.

Redox-triggered hydrogels revealing switchable stiffness properties and shape-memory functions

Metal-ion terpyridine-crosslinked acrylamide hydrogels or metal-ion-bridged carboxymethylcellulose hydrogels reveal redox-switchable stiffness and shape-memory properties.

Programing stimuli-responsiveness of gelatin with electron beams: basic effects and development of a hydration-controlled biocompatible demonstrator

Biomimetic materials with programmable stimuli responsiveness constitute a highly attractive material class for building bioactuators, sensors and active control elements in future biomedical applications. With this background, we demonstrate how energetic electron beams can be utilized to construct tailored stimuli responsive actuators for biomedical applications. Composed of collagen-derived gelatin, they reveal a mechanical response to hydration and changes in pH-value and ion concentration, while maintaining their excellent biocompatibility and biodegradability. While this is explicitly demonstrated by systematic characterizing an electron-beam synthesized gelatin-based actuator of cantilever geometry, the underlying materials processes are also discussed, based on the fundamental physical and chemical principles. When applied within classical electron beam lithography systems, these findings pave the way for a novel class of highly versatile integrated bioactuators from micro- to macroscales.

Site-Specific Pre-Swelling-Directed Morphing Structures of Patterned Hydrogels

Morphing materials have promising applications in various fields, yet how to program the self-shaping process for specific configurations remains a challenge. Herein we show a versatile approach to control the buckling of individual domains and thus the outcome configurations of planar-patterned hydrogels. By photolithography, high-swelling disc gels were positioned in a non-swelling gel sheet; the swelling mismatch resulted in out-of-plain buckling of the disc gels. To locally control the buckling direction, masks with holes were used to guide site-specific swelling of the high-swelling gel under the holes, which built a transient through-thickness gradient and thus directed the buckling during the subsequent unmasked swelling process. Therefore, various configurations of an identical patterned hydrogel can be programmed by the pre-swelling step with different masks to encode the buckling directions of separate domains.

Advances in engineering hydrogels

Hydrogels are formed from hydrophilic polymer chains surrounded by a water-rich environment. They have widespread applications in various fields such as biomedicine, soft electronics, sensors, and actuators. Conventional hydrogels usually possess limited mechanical strength and are prone to permanent breakage. Further, the lack of dynamic cues and structural complexity within the hydrogels has limited their functions. Recent developments include engineering hydrogels that possess improved physicochemical properties, ranging from designs of innovative chemistries and compositions to integration of dynamic modulation and sophisticated architectures. We review major advances in designing and engineering hydrogels and strategies targeting precise manipulation of their properties across multiple scales.

Graphene-Based Polymer Bilayers with Superior Light-Driven Properties for Remote Construction of 3D Structures

3D structure assembly in advanced functional materials is important for many areas of technology. Here, a new strategy exploits IR light-driven bilayer polymeric composites for autonomic origami assembly of 3D structures. The bilayer sheet comprises a passive layer of poly(dimethylsiloxane) (PDMS) and an active layer comprising reduced graphene oxides (RGOs), thermally expanding microspheres (TEMs), and PDMS. The corresponding fabrication method is versatile and simple. Owing to the large volume expansion of the TEMs, the two layers exhibit large differences in their coefficients of thermal expansion. The RGO-TEM-PDMS/PDMS bilayers can deflect toward the PDMS side upon IR irradiation via the cooperative effect of the photothermal effect of the RGOs and the expansion of the TEMs, and exhibit excellent light-driven, a large bending deformation, and rapid responsive properties. The proposed RGO-TEM-PDMS/PDMS composites with excellent light-driven bending properties are demonstrated as active hinges for building 3D geometries such as bidirectionally folded columns, boxes, pyramids, and cars. The folding angle (ranging from 0° to 180°) is well-controlled by tuning the active hinge length. Furthermore, the folded 3D architectures can permanently preserve the deformed shape without energy supply. The presented approach has potential in biomedical devices, aerospace applications, microfluidic devices, and 4D printing.

Microactuation and sensing using reversible deformations of laser-written polymeric structures

We investigate reversible deformations of polymeric microstructures fabricated using direct laser writing three-dimensional lithography upon immersion in various solvents. Swelling and shrinkage of sub-micrometre size features are induced by interaction with surrounding solvent and such deformations can be exploited to create larger structures whose size, shape, and other structural parameters depend on the surroundings. We describe diffractive optical elements, micro-mechanical sensors and also hybrid deformable structures, that can be used to implement micro-actuation, micro-sensing, and other functionalities highly sought for micro-optical, micro-mechanical, and micro-fluidic systems.

Complex shape deformations of homogeneous poly(N-isopropylacrylamide)/graphene oxide hydrogels programmed by local NIR irradiation

The homogeneous PNIPAM/GO hydrogels could undergo complex shape deformations (e.g., imitating the postures of human) under local NIR irradiation.

Review of Adaptive Programmable Materials and Their Bioapplications

Adaptive programmable materials have attracted increasing attention due to their high functionality, autonomous behavior, encapsulation, and site-specific confinement capabilities in various applications. Compared to conventional materials, adaptive programmable materials possess unique single-material architecture that can maintain, respond, and change their shapes and dimensions when they are subjected to surrounding environment changes, such as alternation in temperature, pH, and ionic strength. In this review, the most-recent advances in the design strategies of adaptive programmable materials are presented with respect to different types of architectural polymers, including stimuli-responsive polymers and shape-memory polymers. The diverse functions of these sophisticated materials and their significance in therapeutic agent delivery systems are also summarized in this review. Finally, the challenges for facile fabrication of these materials and future prospective are also discussed.

Free-Standing and Circular-Polarizing Chirophotonic Crystal Reflectors: Photopolymerization of Helical Nanostructures

The preparation of materials exhibiting structural colors has been intensively studied in biomimetic science and technology. Utilizing a newly synthesized cholesteric liquid-crystal (CLC) monomer (abbreviated as BP₁CRM), we have prepared CLC films. Photoinitiated copolymerization of this monomer with a common achiral liquid-crystalline monomer produced free-standing films with homogeneous and nanoscale pitch distributions. Employing the thermal sensitivity of the CLC monomer, chirophotonic crystal reflectors were prepared exhibiting a range of colors. The free-standing and circular-polarizing chirophotonic crystal films maintain excellent thermal, mechanical, and chemical stabilities, and the composition can readily be applied as polarized optical films and smart paints.

Shape-programmable magnetic soft matter

Shape-programmable matter is a class of active materials whose geometry can be controlled to potentially achieve mechanical functionalities beyond those of traditional machines. Among these materials, magnetically actuated matter is particularly promising for achieving complex time-varying shapes at small scale (overall dimensions smaller than 1 cm). However, previous work can only program these materials for limited applications, as they rely solely on human intuition to approximate the required magnetization profile and actuating magnetic fields for their materials. Here, we propose a universal programming methodology that can automatically generate the required magnetization profile and actuating fields for soft matter to achieve new time-varying shapes. The universality of the proposed method can therefore inspire a vast number of miniature soft devices that are critical in robotics, smart engineering surfaces and materials, and biomedical devices. Our proposed method includes theoretical formulations, computational strategies, and fabrication procedures for programming magnetic soft matter. The presented theory and computational method are universal for programming 2D or 3D time-varying shapes, whereas the fabrication technique is generic only for creating planar beams. Based on the proposed programming method, we created a jellyfish-like robot, a spermatozoid-like undulating swimmer, and an artificial cilium that could mimic the complex beating patterns of its biological counterpart.

Programmed planar-to-helical shape transformations of composite hydrogels with bioinspired layered fibrous structures

Self-shaping materials have attracted tremendous interest due to their promising applications in soft robotics, and flexible electronics, etc. In this field, a crucial issue is how to construct complex yet elaborate structures in active materials. Here, we present the fabrication of composite hydrogels with both in-plane and out-of-plane structural gradients by multi-step photolithography and the resulting controllable deformations. A patterned gel with a layered fibrous structure like bean pod is developed, which shows programmed deformations from a flat shape to a twisted helix. The parameters of the helix can be deliberately tuned. This approach enables patterning different responsive polymers in specific regions of composite gels, leading to multiple shape transformations under stimulations. The controllability of intricate structures, together with tunable responses of localized gels, facilitates the generation of complex internal stresses and three-dimensional deformations of composite gels toward specific applications.

Actuating Fibers: Design and Applications

Actuators are devices capable of moving or controlling objects and systems by applying mechanical force on them. Among all kinds of actuators with different shapes, fibrous ones deserve particular attention. In spite of their apparent simplicity, actuating fibers allow for very complex actuation behavior. This review discusses different approaches for the design of actuating fibers, and their advantages and disadvantages. We also discuss the prospects for the design of fibers with advanced architectures and complex actuation behavior.

A Kirigami Approach to Forming a Synthetic Buckliball

The shape transformation of some biological systems inspires scientists to create sophisticated structures at the nano- and macro- scales. However, to be useful in engineering, the mechanics of governing such a spontaneous, parallel and large deformation must be well understood. In this study, a kirigami approach is used to fold a bilayer planar sheet featuring a specific pattern into a buckliball under a certain thermal stimulus. Importantly, this prescribed spherical object can retract into a much smaller sphere due to constructive buckling caused by radially inward displacement. By minimizing the potential strain energy, we obtain a critical temperature, below which the patterned sheet exhibits identical principal curvatures everywhere in the self-folding procedure and above which buckling occurs. The applicability of the theoretical analysis to the self-folding of sheets with a diversity of patterns is verified by the finite element method.

Harnessing Buckling to Design Architected Materials that Exhibit Effective Negative Swelling

Inspired by the need to develop materials capable of targeted and extreme volume changes during operation, numerical simulations and experiments are combined to design a new class of soft architected materials that achieve a reduction of projected surface-area coverage during swelling.

Flexible and Patterned Thin Film Polarizer: Photopolymerization of Perylene-based Lyotropic Chromonic Reactive Mesogens

A perylene-based reactive mesogen (DAPDI) forming a lyotropic chromonic liquid crystal (LCLC) phase was newly designed and synthesized for the fabrication of macroscopically oriented and patterned thin film polarizer (TFP) on the flexible polymer substrates. The anisotropic optical property and molecular self-assembly of DAPDI were investigated by the combination of microscopic, scattering and spectroscopic techniques. The main driving forces of molecular self-assembly were the face-to-face π-π intermolecular interaction among aromatic cores and the nanophase separation between hydrophilic ionic groups and hydrophobic aromatic cores. Degree of polarization for the macroscopically oriented and photopolymerized DAPDI TFP was estimated to be 99.81% at the λmax = 491 nm. After mechanically shearing the DAPDI LCLC aqueous solution on the flexible polymer substrates, we successfully fabricated the patterned DAPDI TFP by etching the unpolymerized regions selectively blocked by a photomask during the photopolymerization process. Chemical and mechanical stabilities were confirmed by the solvent and pencil hardness tests, and its surface morphology was further investigated by optical microscopy, atomic force microscopy, and three-dimensional surface nanoprofiler. The flexible and patterned DAPDI TFP with robust chemical and mechanical stabilities can be a stepping stone for the advanced flexible optoelectronic devices.