4D Printing: A Comprehensive Review of Technologies, Materials, Stimuli, Design, and Emerging Applications

4D printing is a groundbreaking technology that seamlessly integrates additive manufacturing with smart materials, enabling the creation of multiscale objects capable of changing shapes and/or functions in a controlled and programmed manner in response to applied energy inputs. Printing technologies, mathematical modeling, responsive materials, stimuli, and structural design constitute the blueprint of 4D printing, all of which have seen rapid advancement in the past decade. These advancements have opened up numerous possibilities for dynamic and adaptive structures, finding potential use in healthcare, textiles, construction, aerospace, robotics, photonics, and electronics. However, current 4D printing primarily focuses on proof-of-concept demonstrations. Further development is necessary to expand the range of accessible materials and address fabrication complexities for widespread adoption. In this paper, we aim to deliver a comprehensive review of the state-of-the-art in 4D printing, probing into shape programming, exploring key aspects of resulting constructs including printing technologies, materials, structural design, morphing mechanisms, and stimuli-responsiveness, and elaborating on prominent applications across various fields. Finally, we discuss perspectives on limitations, challenges, and future developments in the realm of 4D printing. While the potential of this technology is undoubtedly vast, continued research and innovation are essential to unlocking its full capabilities and maximizing its real-world impact.

4D printing chemical stimuli-responsive hydrogels for tissue engineering and localized drug delivery applications - part 2

INTRODUCTION

The incorporation of 4D printing alongside chemical stimuli-responsive hydrogels represents a significant advancement in the field of biomedical engineering, effectively overcoming the constraints associated with conventional static 3D-printed structures. Through the integration of time as the fourth dimension, 4D printing facilitates the development of dynamic and adaptable structures that can react to chemical alterations in their surroundings. This innovation presents considerable promise for sophisticated tissue engineering and targeted drug delivery applications.

AREAS COVERED

This review examines the function of chemical stimuli-responsive hydrogels within the context of 4D printing, highlighting their distinctive ability to undergo regulated transformations when exposed to particular chemical stimuli. An in-depth examination of contemporary research underscores the collaborative dynamics between these hydrogels and their surroundings, focusing specifically on their utilization in biomimetic scaffolds for tissue regeneration and the advancement of intelligent drug delivery systems.

EXPERT OPINION

The integration of 4D printing technology with chemically responsive hydrogels presents exceptional prospects for advancements in tissue engineering and targeted drug delivery, facilitating the development of personalized and adaptive medical solutions. Although the potential is promising, it is essential to address challenges such as material optimization, biocompatibility, and precise control over stimuli-responsive behavior to facilitate clinical translation and scalability.

Toward Customizable Smart Gels: A Comprehensive Review of Innovative Printing Techniques and Applications

New production technologies have transformed modern engineering fields, including electronics, mechanics, robotics, and biomedicine. These advancements have led to the creation of smart materials such as alloys, polymers, and gels that respond to various stimuli. This review focuses on smart materials (SMs), including their variety and fabrication techniques, that can be used to construct three- or four-dimensional structures. The mechanisms and designs of smart materials, limitations of current printing technologies, and perspectives for their future uses are also discussed in this review. The printed smart materials are expected to have a major impact on the design of real-world applications.

Self-healing cellulose-based hydrogels: From molecular design to multifarious applications

Self-healing cellulose-based hydrogels (SHCHs) exhibit wide-ranging potential applications in the fields of biomedicine, environmental management, energy storage, and smart materials due to their unique physicochemical properties and biocompatibility. This review delves into the molecular design principles, performance characteristics, and diverse applications of SHCHs. Firstly, the molecular structure and physicochemical properties of cellulose are analyzed, along with strategies for achieving self-healing properties through molecular design, with particular emphasis on the importance of self-healing mechanisms. Subsequently, methods for optimizing the performance of SHCHs through chemical modification, composite reinforcement, stimulus responsiveness, and functional integration technologies are discussed in detail. Furthermore, applications of SHCHs in drug delivery, tissue engineering, wound healing, smart sensing, supercapacitors, electronic circuits, anti-counterfeiting systems, oil/water separation, and food packaging are explored. Finally, future research directions for SHCHs are outlined, including the innovative development of new SHCHs, in-depth elucidation of cooperative strengthening mechanisms, a further expansion of application scope, and the establishment of intelligent systems. This review provides researchers with a comprehensive overview of SHCHs and serves as a reference and guide for future research and development.

Cyclodextrin-based rotaxanes for polymer materials: challenge on simultaneous realization of inexpensive production and defined structures

Owing to their dynamic natures, rotaxane-based polymers are attractive motifs for developing stimuli-responsive materials. However, the accurate control of the rotaxane structure, which can be achieved via multistep synthesis, is key to utilizing the material. Concurrently, implementing a scale-up synthesis procedure to exploit the application potential of rotaxane-based polymers induces structural ambiguities, thereby presenting a significant trade-off between realizing inexpensive production and defined structures. To overcome this rotaxane-synthesis challenge, cyclodextrin (CD) can be employed as a promising alternative owing to its low production cost. Thus, this study presents an overview of the precise synthesis of CD-based rotaxane and its application to polymers to simultaneously ensure inexpensive production and realize defined structures.

4D fabrication of shape-changing systems for tissue engineering: state of the art and perspectives

In recent years, four-dimensional (4D) fabrication has emerged as a powerful technology capable of revolutionizing the field of tissue engineering. This technology represents a shift in perspective from traditional tissue engineering approaches, which generally rely on static-or passive-structures (e.g., scaffolds, constructs) unable of adapting to changes in biological environments. In contrast, 4D fabrication offers the unprecedented possibility of fabricating complex designs with spatiotemporal control over structure and function in response to environment stimuli, thus mimicking biological processes. In this review, an overview of the state of the art of 4D fabrication technology for the obtainment of cellularized constructs is presented, with a focus on shape-changing soft materials. First, the approaches to obtain cellularized constructs are introduced, also describing conventional and non-conventional fabrication techniques with their relative advantages and limitations. Next, the main families of shape-changing soft materials, namely shape-memory polymers and shape-memory hydrogels are discussed and their use in 4D fabrication in the field of tissue engineering is described. Ultimately, current challenges and proposed solutions are outlined, and valuable insights into future research directions of 4D fabrication for tissue engineering are provided to disclose its full potential.

Robust Hydrogel Actuators Functioning in Multi-Environments Enabled by Thermo-Responsive Polymer Nanoparticle Coatings on Hydrogel Surfaces

Hydrogel actuators with anisotropic structures exhibit reversible responsiveness upon the trigger of various external stimuli, rendering them promising for applications in many fields including artificial muscles and soft robotics. However, their effective operation across multiple environments remains a persistent challenge, even for widely studied thermo-responsive polymers like poly(N-isopropyl acrylamide) (PNIPAm). Current attempts to address this issue are hindered by complex synthetic procedures or specific substrates. This study introduces a straightforward methodology to grow a thin, dense PNIPAm nanoparticle layer on diverse hydrogel surfaces, creating a highly temperature-sensitive hydrogel actuator. This actuator demonstrates adaptability across various environments, including water, oil, and open air, owing to its distinct structure facilitating self-water circulation during actuation. The thin PNIPAm layer consists of interconnected PNIPAm nanoparticles synthesized via in situ interfacial precipitation polymerization, seamlessly bonded to the hydrogel substrate through an interfacial layer containing hybrid hydrogel/PNIPAm nanoparticles. This unique anisotropic structure ensures exceptional structural stability without interfacial delamination, even enduring harsh treatments such as freezing, ultrasonic irradiation, and prolonged water immersion. Remarkably, PNIPAm films on hydrogel surfaces which enable programmable 3D actuation can also be precisely patterned. This synthetic approach opens a novel pathway for fabricating advanced hydrogel actuators with broad-ranging applications.

3D-Printed Hydrogels as Photothermal Actuators

Thermoresponsive hydrogels were 3D-printed with embedded gold nanorods (GNRs), which enable shape change through photothermal heating. GNRs were functionalized with bovine serum albumin and mixed with a photosensitizer and poly(N-isopropylacrylamide) (PNIPAAm) macromer, forming an ink for 3D printing by direct ink writing. A macromer-based approach was chosen to provide good microstructural homogeneity and optical transparency of the unloaded hydrogel in its swollen state. The ink was printed into an acetylated gelatin hydrogel support matrix to prevent the spreading of the low-viscosity ink and provide mechanical stability during printing and concurrent photocrosslinking. Acetylated gelatin hydrogel was introduced because it allows for melting and removal of the support structure below the transition temperature of the crosslinked PNIPAAm structure. Convective and photothermal heating were compared, which both triggered the phase transition of PNIPAAm and induced reversible shrinkage of the hydrogel-GNR composite for a range of GNR loadings. During reswelling after photothermal heating, some structures formed an internally buckled state, where minor mechanical agitation recovered the unbuckled structure. The BSA-GNRs did not leach out of the structure during multiple cycles of shrinkage and reswelling. This work demonstrates the promise of 3D-printed, photoresponsive structures as hydrogel actuators.

Hydrogel morphogenesis induced by force-controlled growth

Morphogenesis is one of the most marvelous natural phenomena. The morphological characteristics of biological organs develop through growth, which is often triggered by mechanical force. In this study, we propose a bioinspired strategy for hydrogel morphogenesis through force-controlled chemical reaction and growth under isothermal conditions. We adopted a double network (DN) hydrogel with sacrificial bonds. Applying mechanical force to the gel caused deformation and sacrificial bond rupture. By supplying monomers to the gel, the radicals generated by the bond rupture triggered the formation of a new network inside the deformed gel. This new network conferred plasticity to the elastic gel, allowing it to maintain its deformed shape, along with increased volume and strength. We demonstrated that sheet-shaped DN hydrogels rapidly adopted various three-dimensional shapes at ambient temperature when subjected to forces such as drawing and blowing. This mechanism enables morphogenesis of elastic hydrogels and will promote the application of these materials in biomedical fields and soft machines.

UV Light-Mediated Hydrolytic Reaction to Develop Magnetic Hydrogel Actuators with Spatially Distributed Ferriferous Oxide Microparticles

Magnetic hydrogel actuators are developed by incorporating magnetic fillers into the hydrogel matrix. Regulating the distribution of these fillers is key to the exhibited functionalities but is still challenging. Here a facile way to spatially synthesize ferrosoferric oxide (Fe3O4) microparticles in situ in a thermal-responsive hydrogel is reported. This method involves the photo-reduction of Fe3+ ions coordinated with carboxylate groups in polymer chains, and the hydrolytic reaction of the reduced Fe2+ ions with residual Fe3+ ions. By controlling the irradiation time and position, the concentration of Fe3O4 microparticles can be spatially controlled, and the resulting Fe3O4 pattern enables the hydrogel to exhibit complex locomotion driven by magnet, temperature, and NIR light. This method is convenient and extendable to other hydrogel systems to realize more complicated magneto-responsive functionalities.

Electrochemically-driven actuators: from materials to mechanisms and from performance to applications

Soft actuators, pivotal for converting external energy into mechanical motion, have become increasingly vital in a wide range of applications, from the subtle engineering of soft robotics to the demanding environments of aerospace exploration. Among these, electrochemically-driven actuators (EC actuators), are particularly distinguished by their operation through ion diffusion or intercalation-induced volume changes. These actuators feature notable advantages, including precise deformation control under electrical stimuli, freedom from Carnot efficiency limitations, and the ability to maintain their actuated state with minimal energy use, akin to the latching state in skeletal muscles. This review extensively examines EC actuators, emphasizing their classification based on diverse material types, driving mechanisms, actuator configurations, and potential applications. It aims to illuminate the complicated driving mechanisms of different categories, uncover their underlying connections, and reveal the interdependencies among materials, mechanisms, and performances. We conduct an in-depth analysis of both conventional and emerging EC actuator materials, casting a forward-looking lens on their trajectories and pinpointing areas ready for innovation and performance enhancement strategies. We also navigate through the challenges and opportunities within the field, including optimizing current materials, exploring new materials, and scaling up production processes. Overall, this review aims to provide a scientifically robust narrative that captures the current state of EC actuators and sets a trajectory for future innovation in this rapidly advancing field.

NIR-Mediated Deformation from a CNT-Based Bilayer Hydrogel

Shape-shifting polymers are widely used in various fields such as intelligent switches, soft robots and sensors, which require both multiple stimulus-response functions and qualified mechanical strength. In this study, a novel near-infrared-light (NIR)-responsible shape-shifting hydrogel system was designed and fabricated through embedding vinylsilane-modified carbon nanotubes (CNTs) into particle double-network (P-DN) hydrogels by micellar copolymerisation. The dispersed brittle Poly(sodium 2-acrylamido-2-methylpropane-1-sulfonate) (PNaAMPS) network of the microgels can serve as sacrificial bonds to toughen the hydrogels, and the CNTs endow it with NIR photothermal conversion ability. The results show that the CNTs embedded in the P-DN hydrogels present excellent mechanical strength, i.e., a fracture strength of 312 kPa and a fracture strain of 357%. Moreover, an asymmetric bilayer hydrogel, where the active layer contains CNTs, can achieve 0°-110° bending deformation within 10 min under NIR irradiation and can realise complex deformation movement. This study provides a theoretical and experimental basis for the design and manufacture of photoresponsive soft actuators.

Shape Memory Hydrogels for Biomedical Applications

The ability of shape memory polymers to change shape upon external stimulation makes them exceedingly useful in various areas, from biomedical engineering to soft robotics. Especially, shape memory hydrogels (SMHs) are well-suited for biomedical applications due to their inherent biocompatibility, excellent shape morphing performance, tunable physiochemical properties, and responsiveness to a wide range of stimuli (e.g., thermal, chemical, electrical, light). This review provides an overview of the unique features of smart SMHs from their fundamental working mechanisms to types of SMHs classified on the basis of applied stimuli and highlights notable clinical applications. Moreover, the potential of SMHs for surgical, biomedical, and tissue engineering applications is discussed. Finally, this review summarizes the current challenges in synthesizing and fabricating reconfigurable hydrogel-based interfaces and outlines future directions for their potential in personalized medicine and clinical applications.

Ion-Cross-Linked Hybrid Photochromic Hydrogels with Enhanced Mechanical Properties and Shape Memory Behaviour

Shape-shifting polymers usually require not only reversible stimuli-responsive ability, but also strong mechanical properties. A novel shape-shifting photochromic hydrogel system was designed and fabricated by embedding hydrophobic spiropyran (SP) into double polymeric network (DN) through micellar copolymerisation. Here, sodium alginate (Alg) and poly acrylate-co-methyl acrylate-co-spiropyran (P(SA-co-MA-co-SPMA)) were employed as the first network and the second network, respectively, to realise high mechanical strength. After being soaked in the CaCl2 solution, the carboxyl groups in the system underwent metal complexation with Ca2+ to enhance the hydrogel. Moreover, after the hydrogel was exposed to UV-light, the closed isomer of spiropyran in the hydrogel network could be converted into an open zwitterionic isomer merocyanine (MC), which was considered to interact with Ca2+ ions. Interestingly, Ca2+ and UV-light responsive programmable shape of the copolymer hydrogel could recover to its original form via immersion in pure water. Given its excellent metal ion and UV light stimuli-responsive and mechanical properties, the hydrogel has potential applications in the field of soft actuators.

Photocuring 3D Printing of Hydrogels: Techniques, Materials, and Applications in Tissue Engineering and Flexible Devices

Photocuring 3D printing of hydrogels, with sophisticated, delicate structures and biocompatibility, attracts significant attention by researchers and possesses promising application in the fields of tissue engineering and flexible devices. After years of development, photocuring 3D printing technologies and hydrogel inks make great progress. Herein, the techniques of photocuring 3D printing of hydrogels, including direct ink writing (DIW), stereolithography (SLA), digital light processing (DLP), continuous liquid interface production (CLIP), volumetric additive manufacturing (VAM), and two photon polymerization (TPP) are reviewed. Further, the raw materials for hydrogel inks (photocurable polymers, monomers, photoinitiators, and additives) and applications in tissue engineering and flexible devices are also reviewed. At last, the current challenges and future perspectives of photocuring 3D printing of hydrogels are discussed.

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.

Multifunctional Hydrogels for the Healing of Diabetic Wounds

The healing of diabetic wounds is hindered by various factors, including bacterial infection, macrophage dysfunction, excess proinflammatory cytokines, high levels of reactive oxygen species, and sustained hypoxia. These factors collectively impede cellular behaviors and the healing process. Consequently, this review presents intelligent hydrogels equipped with multifunctional capacities, which enable them to dynamically respond to the microenvironment and accelerate wound healing in various ways, including stimuli -responsiveness, injectable self-healing, shape -memory, and conductive and real-time monitoring properties. The relationship between the multiple functions and wound healing is also discussed. Based on the microenvironment of diabetic wounds, antibacterial, anti-inflammatory, immunomodulatory, antioxidant, and pro-angiogenic strategies are combined with multifunctional hydrogels. The application of multifunctional hydrogels in the repair of diabetic wounds is systematically discussed, aiming to provide guidelines for fabricating hydrogels for diabetic wound healing and exploring the role of intelligent hydrogels in the therapeutic processes.

Recent advances in double network hydrogels based on naturally-derived polymers: synthesis, properties, and biological applications

Hydrogels composed of naturally-derived biopolymers have garnered significant research interest due to the bioavailability and biocompatibility of starting materials. However, translating these advantages to practical use is challenged by limitations of mechanical properties and stability of the resulting materials. The development of double network (DN) hydrogels has led to greatly enhanced mechanical properties and shows promise toward broadening the applications of conventional synthetic or natural hydrogels. This review highlights recently developed protein-based and polysaccharide-based DN hydrogels. For each biopolymer, we focus on a subset of DN hydrogels centered around a theme related to synthetic design or applications. Network structures and crosslinking mechanisms that endow enhanced mechanical properties and performance to the materials are discussed. Important applications, including tissue engineering, drug delivery, bioadhesives, wound healing, and wearable sensors, that arise from the inherent properties of the natural polymer or its combination with other materials are also emphasized. Finally, we discuss ongoing challenges to stimulate the discovery of new design principles for the future of DN hydrogels based on naturally-derived polymers for biological applications.

Self-Growing Organic Materials

The growth of living systems is ubiquitous. Living organisms can continually update their sizes, shapes, and properties to meet various environmental challenges. Such a capability is also demonstrated by emerging self-growing materials that can incorporate externally provided compounds to grow as living organisms. In this Minireview, we summarize these materials in terms of six aspects. First, we discuss their essential characteristics, then describe the strategies for enabling crosslinked organic materials to self-grow from nutrient solutions containing polymerizable compounds. The developed examples are grouped into five categories based on their molecular mechanisms. We then explain the mechanism of mass transport within polymer networks during growth, which is critical for controlling the shape and morphology of the grown products. Afterwards, simulation models built to explain the interesting phenomena observed in self-growing materials are discussed. The development of self-growing materials is accompanied by various applications, including tuning bulk properties, creating textured surfaces, growth-induced self-healing, 4D printing, self-growing implants, actuation, self-growing structural coloration, and others. These examples are then summed up. Finally, we discuss the opportunities brought by self-growing materials and their facing challenges.

Mechanically Tunable Hydrogels with Self-Healing and Shape Memory Capabilities from Thermo-Responsive Amino Acid-Derived Vinyl Polymers

In this study, we report the fabrication and characterization of self-healing and shape-memorable hydrogels, the mechanical properties of which can be tuned via post-polymerization crosslinking. These hydrogels were constructed from a thermo-responsive poly(N-acryloyl glycinamide) (NAGAm) copolymer containing N-acryloyl serine methyl ester (NASMe) units (5 mol%) that were readily synthesized via conventional radical copolymerization. This transparent and free-standing hydrogel is produced via multiple hydrogen bonds between PNAGAm chains by simply dissolving the polymer in water at a high temperature (~90 °C) and then cooling it. This hydrogel exhibited moldability and self-healing properties. The post-polymerization crosslinking of the amino acid-derived vinyl copolymer network with glutaraldehyde, which acts as a crosslinker between the hydroxy groups of the NASMe units, tuned mechanical properties such as viscoelasticity and tensile strength. The optimal crosslinker concentration efficiently improved the viscoelasticity. Moreover, these hydrogels exhibited shape fixation (~60%)/memory (~100%) behavior owing to the reversible thermo-responsiveness (upper critical solution temperature-type) of the PNAGAm units. Our multifunctional hydrogel, with moldable, self-healing, mechanical tunability via post-polymerization crosslinking, and shape-memorable properties, has considerable potential for applications in engineering and biomedical materials.

From Nature to Technology: Exploring Bioinspired Polymer Actuators via Electrospinning

Nature has always been a source of inspiration for the development of novel materials and devices. In particular, polymer actuators that mimic the movements and functions of natural organisms have been of great interest due to their potential applications in various fields, such as biomedical engineering, soft robotics, and energy harvesting. During recent years, the development and actuation performance of electrospun fibrous meshes with the advantages of high permeability, surface area, and easy functional modification, has received extensive attention from researchers. This review covers the recent progress in the state-of-the-art electrospun actuators based on commonly used polymers such as stimuli-sensitive hydrogels, shape-memory polymers (SMPs), and electroactive polymers. The design strategies inspired by nature such as hierarchical systems, layered structures, and responsive interfaces to enhance the performance and functionality of these actuators, including the role of biomimicry to create devices that mimic the behavior of natural organisms, are discussed. Finally, the challenges and future directions in the field, with a focus on the development of more efficient and versatile electrospun polymer actuators which can be used in a wide range of applications, are addressed. The insights gained from this review can contribute to the development of advanced and multifunctional actuators with improved performance and expanded application possibilities.

Advances in the Preparation of Tough Conductive Hydrogels for Flexible Sensors

The rapid development of tough conductive hydrogels has led to considerable progress in the fields of tissue engineering, soft robots, flexible electronics, etc. Compared to other kinds of traditional sensing materials, tough conductive hydrogels have advantages in flexibility, stretchability and biocompatibility due to their biological structures. Numerous hydrogel flexible sensors have been developed based on specific demands for practical applications. This review focuses on tough conductive hydrogels for flexible sensors. Representative tactics to construct tough hydrogels and strategies to fulfill conductivity, which are of significance to fabricating tough conductive hydrogels, are briefly reviewed. Then, diverse tough conductive hydrogels are presented and discussed. Additionally, recent advancements in flexible sensors assembled with different tough conductive hydrogels as well as various designed structures and their sensing performances are demonstrated in detail. Applications, including the wearable skins, bionic muscles and robotic systems of these hydrogel-based flexible sensors with resistive and capacitive modes are discussed. Some perspectives on tough conductive hydrogels for flexible sensors are also stated at the end. This review will provide a comprehensive understanding of tough conductive hydrogels and will offer clues to researchers who have interests in pursuing flexible sensors.

Nanocellulose-assisted 3D-printable, transparent, bio-adhesive, conductive, and biocompatible hydrogels as sensors and moist electric generators

Transparent hydrogels have found increasing applications in wearable electronics, printable devices, and tissue engineering. Integrating desired properties, such as conductivity, mechanical strength, biocompatibility, and sensitivity, in one hydrogel remains challenging. To address these challenges, multifunctional hydrogels of methacrylate chitosan, spherical nanocellulose, and β-glucan with distinct physicochemical characteristics were combined to develop multifunctional composite hydrogels. The nanocellulose facilitated the self-assembly of the hydrogel. The hydrogels exhibited good printability and adhesiveness. Compared with the pure methacrylated chitosan hydrogel, the composite hydrogels exhibited improved viscoelasticity, shape memory, and conductivity. The biocompatibility of the composite hydrogels was monitored using human bone marrow-derived stem cells. Their motion-sensing potential was analyzed on different parts of the human body. The composite hydrogels also possessed temperature-responsiveness and moisture-sensing abilities. These results suggest that the developed composite hydrogels demonstrate excellent potential to fabricate 3D-printable devices for sensing and moist electric generator applications.

A novel electric stimulus-responsive micro-actuator for powerful biomimetic motions

Limited by the surface-to-volume ratio of structural materials, it is a great challenge to achieve high output performance in a millimetre-sized actuator. Traditional rigid actuators can achieve higher vibration frequencies above the centimetre size, but their working performance will be greatly reduced below the millimetre size, and even cannot maintain the vibration. A micro-actuator is highly essential for the miniaturisation of bionic robots. In this work, we present a novel driving principle by utilising the plasmonic thermal energy generated by electric stimulation to drive the vibration of the micro-actuator. In the design, the micro-actuator is composed of two chambers and elastic elements, which is similar to the design of a micro-piston. By utilising the thermal energy of the plasma, the actuator can generate high-frequency vibration (resonant frequency of 140 Hz), and the simple structural design can achieve a large vibration amplitude on a millimetre scale. Based on this powerful actuator, several applications are presented, such as fast crawling and jumping. The good performance of the electric stimulus-responsive micro-actuator suggests promising applications ranging from millimetre-scale robots in confined spaces to detection, search and rescue.

Identification of the First Sulfobetaine Hydrogel-Binding Peptides via Phage Display Assay

Using the M13 phage display, a series of 7- and 12-mer peptides which interact with new sulfobetaine hydrogels are identified. Two peptides each from the 7- and 12-mer peptide libraries bind to the new sulfobetaine hydrogels with high affinity compared to the wild-type phage lacking a dedicated hydrogel binding peptide. This is the first report of peptides binding to zwitterionic sulfobetaine hydrogels and the study therefore opens up the pathway toward new phage or peptide/hydrogel hybrids with high application potential.

Recent Advances in Bioinspired Hydrogels: Materials, Devices, and Biosignal Computing

The remarkable ability of biological systems to sense and adapt to complex environmental conditions has inspired new materials and novel designs for next-generation wearable devices. Hydrogels are being intensively investigated for their versatile functions in wearable devices due to their superior softness, biocompatibility, and rapid stimulus response. This review focuses on recent strategies for developing bioinspired hydrogel wearable devices that can accommodate mechanical strain and integrate seamlessly with biological systems. We will provide an overview of different types of bioinspired hydrogels tailored for wearable devices. Next, we will discuss the recent progress of bioinspired hydrogel wearable devices such as electronic skin and smart contact lenses. Also, we will comprehensively summarize biosignal readout methods for hydrogel wearable devices as well as advances in powering and wireless data transmission technologies. Finally, current challenges facing these wearable devices are discussed, and future directions are proposed.

Compressive molding of engineered tissues via thermoresponsive hydrogel devices

Biofabrication of tissues requires sourcing appropriate combinations of cells, and then arranging those cells into a functionally-useful construct. Recently, organoids with diverse cell populations have shown great promise as building blocks from which to assemble more complex structures. However, organoids typically adopt spherical or uncontrolled morphologies, which intrinsically limit the tissue structures that can be produced using this bioassembly technique. Here, we develop microfabricated smart hydrogel platforms in thermoresponsive poly(N-isopropylacrylamide) to compressively mold microtissues such as spheroids or organoids into customized forms, on demand. These Compressive Hydrogel Molders (CHyMs) compact at cell culture temperatures to force loaded tissues into a new shape, and then expand to release the tissues for downstream applications. As a first demonstration, breast cancer spheroids were biaxially compacted in cylindrical cavities, and uniaxially compacted in rectangular ones. Spheroid shape changes persisted after the tissues were released from the CHyMs. We then demonstrate long-term molding of spherical brain organoids in ring-shaped CHyMs over one week. Fused bridges formed only when brain organoids were encased in Matrigel, and the resulting ring-shaped organoids expressed tissue markers that correspond with expected differentiation profiles. These results demonstrate that tissues differentiate appropriately even during long-term molding in a CHyM. This platform hence provides a new tool to shape pre-made tissues as desired, via temporary compression and release, allowing an exploration of alternative organoid geometries as building blocks for bioassembly applications.

Hydrogel-Film-Fabricated Fluorescent Biosensors with Aggregation-Induced Emission for Albumin Detection through the Real-Time Modulation of a Vortex Fluidic Device

Hydrogels have various promising prospects as a successful platform for detecting biomarkers, and human serum albumin (HSA) is an important biomarker in the diagnosis of kidney diseases. However, the difficult-to-control passive diffusion kinetics of hydrogels is a major factor affecting detection performance. This study focuses on using hydrogels embedded with aggregation-induced emission (AIE) fluorescent probe TC426 to detect HSA in real time. The vortex fluidic device (VFD) technology is used as a rotation strategy to control the reaction kinetics and micromixing during measurement. The results show that the introduction of VFD could significantly accelerate its fluorescence response and effectively improve the diffusion coefficient, while VFD processing could regulate passive diffusion into active diffusion, offering a new method for future sensing research.

Utilizing 4D Printing to Design Smart Gastroretentive, Esophageal, and Intravesical Drug Delivery Systems

The breakthrough of 3D printing in biomedical research has paved the way for the next evolutionary step referred to as four dimensional (4D) printing. This new concept utilizes the time as the fourth dimension in addition to the x, y, and z axes with the idea to change the configuration of a printed construct with time usually in response to an external stimulus. This can be attained through the incorporation of smart materials or through a preset smart design. The 4D printed constructs may be designed to exhibit expandability, flexibility, self-folding, self-repair or deformability. This review focuses on 4D printed devices for gastroretentive, esophageal, and intravesical delivery. The currently unmet needs and challenges for these application sites are tried to be defined and reported on published solution concepts involving 4D printing. In addition, other promising application sites that may similarly benefit from 4D printing approaches such as tracheal and intrauterine drug delivery are proposed.

Magnetic-responsive Covalent Adaptable Networks

Covalent adaptable networks (CANs) are reprocessable polymers whose structural arrangement is based on the recombination of dynamic covalent bonds. Composite materials prepared by incorporating magnetic particles into CANs attract much attention due to their remote and precise control, fast response speed, high biological safety and strong penetration of magnetic stimuli. These properties often involve magnetothermal effect and direct magnetic-field guidance. Besides, some of them can also respond to light, electricity or pH values. Thus, they are favorable for soft actuators since various functions are achieved such as magnetic-assisted self-healing (heating or at ambient temperature), welding (on land or under water), shape-morphing, and so on. Although magnetic CANs just start to be studied in recent two years, their advances are promised to expand the practical applications in both cutting-edge academic and engineering fields. This review aims to summarize recent progress in magnetic-responsive CANs, including their design, synthesis and application.

Peptide-functionalized double network hydrogel with compressible shape memory effect for intervertebral disc regeneration

As a prominent approach to treat intervertebral disc (IVD) degeneration, disc transplantation still falls short to fully reconstruct and restore the function of native IVD. Here, we introduce an IVD scaffold consists of a cellulose-alginate double network hydrogel-based annulus fibrosus (AF) and a cellulose hydrogel-based nucleus pulposus (NP). This scaffold mimics native IVD structure and controls the delivery of Growth Differentiation Factor-5 (GDF-5), which induces differentiation of endogenous mesenchymal stem cells (MSCs). In addition, this IVD scaffold has modifications on MSC homing peptide and RGD peptide which facilitate the recruitment of MSCs to injured area and enhances their cell adhesion property. The benefits of this double network hydrogel are high compressibility, shape memory effect, and mechanical strength comparable to native IVD. In vivo animal study demonstrates successful reconstruction of injured IVD including both AF and NP. These findings suggest that this double network hydrogel can serve as a promising approach to IVD regeneration with other potential biomedical applications.

Highly stretchable, adhesive, and biocompatible hydrogel platforms of tannic acid functionalized spherical nanocellulose for strain sensors

The development of multifunctional wearable electronic devices has received considerable attention because of their attractive applications. However, integrating multifunctional abilities into one component remains a challenge. To address this, we have developed a tannic acid-functionalized spherical nanocellulose/polyvinyl alcohol composite hydrogel using borax as a crosslinking agent for strain-sensing applications. The hydrogel demonstrates improved mechanical and recovery strengths and maintains its mechanical strength under freezing conditions. The hydrogels show ultra-stretching, adhesive, self-healing, and conductive properties, making them ideal candidates for developing strain-based wearable devices. The hydrogel exhibits good sensitivity with a 4.75 gauge factor. The cytotoxicity of the developed hydrogels was monitored with human dermal fibroblast cells by WST-8 assay in vitro. The antibacterial potential of the hydrogels was evaluated using Escherichia coli. The hydrogels demonstrate enhanced antibacterial ability than the control. Therefore, the developed multifunctional hydrogels with desirable properties are promising platforms for strain sensor devices.

Programmable Thermo-Responsive Actuation of Hydrogels via Light-Guided Surface Growth of Active Layers on Shape Memory Substrates

Hydrogel shape memory and actuating functionalities are heavily pursued and have found great potential in various application fields. However, their combination for more flexible and complicated morphing behaviors is still challenging. Herein, it is reported that by controlling the light-initiated polymerization of active hydrogel layers on shape memory hydrogel substrates, advanced morphing behaviors based on programmable hydrogel shapes and actuating trajectories are realized. The formation and photo-reduction-induced dissociation of Fe³⁺ -carboxylate coordination endow the hydrogel substrates with the shape memory functionality. The photo-reduced Fe²⁺ ions can diffuse from the substrates into the monomer solutions to initiate the polymerization of the thermally responsive active layers, whose actuating temperatures and amplitudes can be facially tuned by controlling their thicknesses and compositions. One potential application, a shape-programmable 3D hook that can lift an object with a specific shape, is also unveiled. The demonstrated strategy is extendable to other hydrogel systems to realize more versatile and complicated actuating behaviors.

Self-Healing Polymeric Soft Actuators

Natural evolution has provided multicellular organisms with sophisticated functionalities and repair mechanisms for surviving and preserve their functions after an injury and/or infection. In this context, biological systems have inspired material scientists over decades to design and fabricate both self-healing polymeric materials and soft actuators with remarkable performance. The latter are capable of modifying their shape in response to environmental changes, such as temperature, pH, light, electrical/magnetic field, chemical additives, etc. In this review, we focus on the fusion of both types of materials, affording new systems with the potential to revolutionize almost every aspect of our modern life, from healthcare to environmental remediation and energy. The integration of stimuli-triggered self-healing properties into polymeric soft actuators endow environmental friendliness, cost-saving, enhanced safety, and lifespan of functional materials. We discuss the details of the most remarkable examples of self-healing soft actuators that display a macroscopic movement under specific stimuli. The discussion includes key experimental data, potential limitations, and mechanistic insights. Finally, we include a general table providing at first glance information about the nature of the external stimuli, conditions for self-healing and actuation, key information about the driving forces behind both phenomena, and the most important features of the achieved movement.

Gradient hydrogel actuator with fast response and self-recovery in air

The driving principle of a thermal-responsive hydrogel that loses water at high temperature and absorbs water at low temperature limits its application in an aqueous environment. Here, a gradient hydrogel actuator was developed by introducing sodium hyaluronate into poly(N-isopropylacrylamide) hydrogel by an asymmetric mold method. The hydrogel exhibited a fast response above the LCST in air and unusual self-recovery without the need for further temperature stimuli. The actuation behavior was related to conversion from free water to bound water and water retention within the gradient matrix. The self-recovery mechanism was explored. This work provides a new insight into designing bionic hydrogels applied in a non-aqueous environment.

Process intensified synthesis of luminescent poly(9,9-dioctylfluorene-alt-benzothiadiazole) and polyvinyl alcohol based shape memory polymeric nanocomposite sensors toward cold chain logistics information monitoring

Luminescent shape memory polymeric nanocomposite sensors prepared using poly(9,9-dioctylfluorene-alt-benzothiadiazole) and polyvinyl alcohol for cold chain logistics information monitoring.

Adaptive IR- and Water-Gating Textiles Based on Shape Memory Fibers

Thermoregulation is an essential function of the human body for adapting to the surrounding temperature. Stimuli-responsive smart textiles can provide effective protection of the human skin temperature from a continuously changing environment. Herein, we develop a smart textile based on shape memory polymer (SMP) fibers for adaptive regulation of IR and water transmission on human skin. An SMP textile is fabricated with hierarchical micro/nanoporous structures to enhance thermal insulation performance, and silver nanowires are coated on one side to provide asymmetric IR reflectivity and hydrophilicity. The porous SMP textile shows great tunability of thermal insulation and asymmetric wettability by deformation and recovery of the shape and structure in response to stimuli. The degree of thermal insulation is controlled by 65.7% of the original value, and the surface temperature of the SMP textile on a hot plate is successfully controlled in the IR images due to adaptive IR reflectivity. Additionally, the directional transportation of water droplets can be switched on/off according to the shape of the SMP textiles, which can be employed for sweat removal from the human skin. This IR- and water-gating smart textile can provide a feasible strategy for protecting the human skin from external environmental changes.

Multi-energy dissipation mechanisms in supramolecular hydrogels with fast and slow relaxation modes

Reversible cross-links by non-covalent bonds have been widely used to produce supramolecular hydrogels that are both tough and functional. While various supramolecular hydrogels with several kinds of reversible cross-links have been designed for many years, a universal design that would allow control of mechanical and functional properties remains unavailable. The physical properties of reversible cross-links are usually quantified by thermodynamics, dynamics, and bond energies. Herein, we investigated the relationship between the molecular mobility and mechanical toughness of supramolecular hydrogels consisting of two kinetically distinct reversible cross-links via host-guest interactions. The molecular mobility was quantified as the second-order average relaxation time (〈τ〉_w) of the reversible cross-links. We discovered that hydrogels combining fast (〈τ〉_w = 1.8 or 18 s) and slowly (〈τ〉_w = 6.6 × 10³ or 9.5 × 10³ s) reversible cross-links showed increased toughness compared to hydrogels with only one type of cross-link because relaxation processes in the former occurred with wide timescales.

Smart Film Actuators for Biomedical Applications

Taking inspiration from the extremely flexible motion abilities in natural organisms, soft actuators have emerged in the past few decades. Particularly, smart film actuators (SFAs) demonstrate unique superiority in easy fabrication, tailorable geometric configurations, and programmable 3D deformations. Thus, they are promising in many biomedical applications, such as soft robotics, tissue engineering, delivery system, and organ-on-a-chip. In this review, the latest achievements of SFAs applied in biomedical fields are summarized. The authors start by introducing the fabrication techniques of SFAs, then shift to the topology design of SFAs, followed by their material selections and distinct actuating mechanisms. After that, their biomedical applications are categorized in practical aspects. The challenges and prospects of this field are finally discussed. The authors believe that this review can boost the development of soft robotics, biomimetics, and human healthcare.

Recent advances in host-guest supramolecular hydrogels for biomedical applications

The recognition-directed host-guest interaction is recognized as a valuable tool for creating supramolecular polymers. Functional hydrogels constructed through the dynamic and reversible host-guest complexation are endowed with a great many appealing features, such as superior self-healing, injectability, flexibility, stimuli-responsiveness and biocompatibility, which are crucial for biological and medicinal applications. With numerous topological structures and host-guest combinations established previously, recent breakthroughs in this area mostly focus on further improvement and fine-tuning of various properties for practical utilizations. The current contribution provides a comprehensive overview of the latest developments in host-guest supramolecular hydrogels, with a particular emphasis on the innovative molecular-level design strategies and hydrogel formation methodologies targeting at a wide range of active biomedical domains, including drug delivery, 3D printing, wound healing, tissue engineering, artificial actuators, biosensors, etc. Furthermore, a brief conclusion and discussion on the steps forward to bring these smart hydrogels to clinical practice is also presented.

Star-Shaped Peptide-Polymer Hybrids as Fast pH-Responsive Supramolecular Hydrogels

Significant challenges have gone into the design of smart hydrogels, with numerous potential applications in the industrial, cosmetic, and biomedical fields. Herein, we report the synthesis of novel 4-arm self-assembling peptide-polyethylene glycol (PEG) hybrid star-shaped polymers and their comprehensive hydrogel properties. β-sheet-forming oligopeptides with alternating hydrophobic Leu/ionizable Glu repeats and Cys residues were successfully conjugated to 4-arm PEG via a thiol-maleimide click reaction. The hybrid star-shaped polymers demonstrated good cytocompatibility and reversible β-sheet (lightly acidic pH)-to-random coil (neutral and basic pH) transition in dilute aqueous solutions. At increasing polymer concentrations up to 0.5 wt %, the star-shaped polymers formed transparent hydrogels with shear-thinning and self-healing behaviors via β-sheet self-assembly, as well as a conformation-dependent gel-sol transition. Interestingly, the star-shaped polymers responded rapidly to pH changes, causing gelation to occur rapidly within a few seconds from the change in pH. Hydrogel characteristics could be modulated by manipulating the length and net charge of the peptide blocks. Furthermore, these star-shaped polymers served as satisfactory network scaffolds that could respond to dynamic environmental changes in the pH-oscillation system, owing to their excellent gelation capability and pH sensitivity. As such, they are highly favorable for diverse applications, such as pH-responsive controlled release.

Fluid-driven Hydrogel Actuators with an Origami Structure

Owing to the innate good biocompatibility, tissue-like softness and other unique properties, hydrogels are of particular interest as promising compliant materials for biomimetic soft actuators. However, the actuation diversity of hydrogel actuators is always restricted by their structure design and fabrication methods. Herein, origami structures were introduced to the design of fluid-driven hydrogel actuators to achieve diverse actuation movements, and a facile fabrication strategy based on removable templates and inside-out diffusion-induced in situ hydrogel crosslinking was adopted. As a result, three types of modular cuboid actuator units (CAUs) achieved linear motion, bending, and twisting. Moreover, combinations of multiple CAUs achieved different actuation modes, including actuation decoupling, superposition, and reprogramming. The diverse actuation functionality would enable new possibilities in application fields for hydrogel soft actuators. Several simple application demos, such as grippers for grasping tasks and a multi-way circuit switch, demonstrated their potential for further applications.

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Origami structures were introduced to fluid-driven hydrogel actuators

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Three types of cuboid actuator units (CAUs) achieved linear motion, bending, and twisting

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A fabrication strategy was based on removable templates and in situ formation

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Combinations of multiple CAUs achieved different actuation modes

An UV-photo and ionic dual responsive interpenetrating network hydrogel with shape memory and self-healing properties

Shape memory hydrogels have attracted extensive attention in fields such as artificial tissues, biomimetic devices and diagnostics, and intelligent biosensors. However, the practical applications were hindered by the absence of self-healing capability and multi-stimuli-responsiveness. To address these issues, we developed a shape memory hydrogel with self-healing and dual stimuli-response performance. The hydrogel system was constructed via an interpenetrating network consisting of in situ radical polymerization and host-guest interaction. The hydrogel exhibited rapid self-healing property, which can be stretched after self-healing for 1 min at 25 °C. Besides, the hydrogel displayed varied swelling performance in different light or solvent conditions. Moreover, the hydrogel showed a dual stimuli-responsive shape memory effect to ultraviolet (UV) light and ionic strength in 1 min. Such a shape memory hydrogel with self-healing ability and multi-stimuli-responsive properties will offer an option toward intelligent soft materials for biomedical and bionic research.