Light-driven bimorph soft actuators: design, fabrication, and properties

Sunlight-Drivable Composite Film Using Carbon Nanopowder-doped PVDF and Liquid Crystal Polymer Network

Actuators based on liquid crystals have garnered significant attention due to their potential applications in wearable technology and bionic soft robots. Composite films composed of liquid crystal polymer networks (LCNs) and other stimulus-responsive materials exhibit the capability to convert external stimuli into mechanical deformation. However, the development of sunlight-driven actuators presents significant challenges, primarily due to the relatively low intensity of sunlight and the limited conversion efficiency of photothermal materials. In this paper, we present a composite film fabricated using poly(vinylidene fluoride) doped with carbon nanopowders (PC) as a photothermal conversion material combined with a hybrid-alignment liquid crystal polymer network film. Under the midday sun during summer, the composite film is heated from room temperature to 74.5 °C quickly, resulting in a substantial angle change of 235°. Additionally, the actuators fabricated by this composite film can demonstrate phototactic and light-avoiding rolling behaviors. This sunlight-drivable composite film shows considerable promise for the research and development of bionic devices powered by natural light.

Magneto-Photochemically Responsive Liquid Crystal Elastomer for Underwater Actuation

The quest for small-scale, remotely controlled soft robots has led to the exploration of magnetic and optical fields for inducing shape morphing in soft materials. Magnetic stimulus excels when navigation in confined or optically opaque environments is required. Optical stimulus, in turn, boasts superior spatial precision and individual control over multiple objects. Herein, we bring these two methodologies together and present a monolithic liquid crystal elastomer (LCE) system that synergistically combines magnetic and photochemical actuation schemes. The resultant composite material showcases versatile possibilities for underwater actuation, and we demonstrate robotic functionalities where the optical and magnetic response can be leveraged in different tasks (object gripping and object translocation, respectively) or where light can be used as a control signal to tune the magnetically induced actuation. Combining these two remote actuation methods offers powerful, dual-mode control in wireless, small-scale robotics, especially in submersed environments due to their isothermal nature.

Untethered Soft Robots Based on 1D and 2D Nanomaterials

Biological structures exhibit autonomous and intelligent behaviors, such as movement, perception, and responses to environmental changes, through dynamic interactions with their surroundings. Inspired by natural organisms, future soft robots are also advancing toward autonomy, sustainability, and interactivity. This review summarizes the latest achievements in untethered soft robots based on 1D and 2D nanomaterials. First, the performance of soft actuators designed with different structures is compared. Then, the development of basic locomotion forms, including crawling, jumping, swimming, rolling, gripping, and multimodal, mimicking biological motion mechanisms under dynamic stimuli, is discussed. Subsequently, various self-sustained movements based on imbalance mechanisms under static stimuli are introduced, including light tracking, self-oscillating, self-crawling, self-rolling, and flying. Following that, the progress in soft actuators integrated with additional functionalities such as sensing, energy harvesting, and storage is summarized. Finally, the challenges faced in this field and the prospects for future development are discussed.

Lyotropic "Salty" Tuning for Straightforward Diversification and Anisotropy in Hydrogel Actuators

The specific ion effect (SIE), the control of polymer solubility in aqueous solutions by the added ions, has been a phenomenon known for more than a century. The seemingly simple nature of the ion-polymer-water interactions can lead to complex behaviors, which have also been exploited in many applications in biochemistry, electrochemistry, and energy harvesting. Here, we show an emerging diversification of actuation behaviors in "salty" hydrogel and hydrogel-paper actuators. SIE controls not only the dehydration speeds but also the water diffusion and mechanical properties of the gels, leading to composite actuation behavior. Most reported thermally activated hydrogel actuators suffer from expensive precursors or complex fabrication processes. This work addresses these issues by using a physicochemical effect displayed within an inexpensive gel with common salts. SIE-controlled anisotropic actuation in geometrically different systems provides a demonstration of how such physicochemical effects can lead to higher complexity in basic soft material design and hydrogel soft robotics.

Hybrid Strategies for Enhancing the Multifunctionality of Smart Dynamic Molecular Crystal Materials

Dynamic molecular crystals are an emerging class of smart engineering materials that possess unique ability to convert external energy into mechanical motion. Moreover, they have being considered as strong candidates for dynamic elements in applications such as flexible electronic devices, artificial muscles, sensors, and soft robots. However, the inherent defects of molecular crystals like brittleness, short-life and fatigue, have significantly impeded their practical applications. Inspired by the concept of "the whole is greater than the sum of its parts" in the field of biology, building stimuli-response composites materials can be regarded as one of the ways to break through the current limitations of dynamic molecular crystals. Moreover, the hybrid materials can exhibit new functionalities that cannot be achieved by a single object. In this review, the focus was placed on the analysis and discussion of various hybrid strategies and options, as well as the functionalities of hybrid dynamic molecular crystal materials and the important practical applications of composite materials, with the introduction of photomechanical molecular crystals and flexible molecular crystals as a starting point. Moreover, the efficiency, limitations, and advantages of different hybrid methods were compared and discussed. Furthermore, the promising perspectives of smart dynamic molecular crystal materials were also discussed and the potential directions for future work were suggested.

Rewritable wavelength-selective hydrogel actuators grafted with fluorophores

Recent efforts have focused on developing stimuli-responsive soft actuators that mimic the adaptive, complex, and reversible movements found in natural species. However, most hydrogel actuators are limited by their inability to combine wavelength-selectivity with reprogrammable shape changes, thereby reducing their degree of freedom in motion. To address this challenge, we present a novel strategy that integrates these capabilities by grafting fluorophores onto temperature-responsive hydrogels. By harnessing the photothermal effects of fluorophores responsive to specific light wavelengths, we achieve wavelength-selective shape morphing under light irradiation at wavelengths of 405, 520, and 638 nm. Furthermore, iterative chemical bleaching of the fluorophores allows for multiple rewritable shape configurations from a single actuator. Using this approach, we successfully demonstrate multiple shape configurations with a single hydrogel actuator that are precisely controlled with both wavelength-selectivity and rewritability. This approach significantly advances the field of soft robotics, paving the way for adaptive, reprogrammable actuators that could serve as intelligent, light-driven soft robots in the future.

Actuation Performance and Versatility of Photothermally Driven Organic Crystals

Photomechanical crystals exhibit mechanical motion upon light irradiation and may thus find applications as actuators. Over the last decades, many photomechanical organic crystals have been developed, commonly via photochemical reactions, particularly photoisomerization. However, photochemical crystal actuation is associated with several drawbacks, including a limited number of available crystals, slow actuation speed (<5 Hz), and narrow wavelength range (<550 nm). Such constraints have hindered the widespread use of crystals as actuation materials. In this minireview, we focus on crystal actuation by employing more universal physical phenomena (the photothermal effect and photothermally resonated natural vibration) and quantitatively evaluate actuation performance. Both mechanisms, particularly the latter, outperformed conventional photomechanical crystal activation in terms of both speed (maximum: 1,350 Hz) and the useful wavelength range (ultraviolet to near-infrared). The oscillation frequencies of the crystals exceeded those of polymers, efficiently filling the gap between soft and hard materials. Both the photothermal effect and natural vibration can actuate any crystal that absorbs light. These two versatile physical actuation mechanisms could expand 40 years of research on photomechanical crystals-which had been based on photochemical reactions-from the realm of chemistry into engineering and lead to their practical applications in actuators and soft robots.

An iodine-driven muscle-mimicking self-resetting bilayer hydrogel actuator

Hydrogels that can swell and deswell under the influence of opposing external stimuli have frequently been reported as muscle-mimicking materials. However, the mechanism of such materials is markedly dissimilar to that of natural muscles. Natural muscles contract when fueled by ATP and spontaneously relax once ATP is completely consumed. The subtlety of this "self-resetting" mechanism is avoiding the equivalent opposite modulation to reset the size and shape of the muscle, which may easily result in the cumulation of action error after several repeating cycles. In this article, we fabricate a bilayer hydrogel actuator with the aid of the I2-responsiveness of poly(ethylene glycol)-based hydrogel. When this actuator is coupled with a reaction network containing NaIO3, NaI, and CS(NH2)2, which generates I2 as an intermediate product, it will temporarily deform and recover spontaneously with the consumption of I2. Such an actuator is highly similar to natural muscles in terms of the actuation mechanism. Several biomimicking functions were achieved by this actuator.

Polymers in Physics, Chemistry and Biology: Behavior of Linear Polymers in Fractal Structures

We start presenting an overview on recent applications of linear polymers and networks in condensed matter physics, chemistry and biology by briefly discussing selected papers (published within 2022-2024) in some detail. They are organized into three main subsections: polymers in physics (further subdivided into simulations of coarse-grained models and structural properties of materials), chemistry (quantum mechanical calculations, environmental issues and rheological properties of viscoelastic composites) and biology (macromolecules, proteins and biomedical applications). The core of the work is devoted to a review of theoretical aspects of linear polymers, with emphasis on self-avoiding walk (SAW) chains, in regular lattices and in both deterministic and random fractal structures. Values of critical exponents describing the structure of SAWs in different environments are updated whenever available. The case of random fractal structures is modeled by percolation clusters at criticality, and the issue of multifractality, which is typical of these complex systems, is illustrated. Applications of these models are suggested, and references to known results in the literature are provided. A detailed discussion of the reptation method and its many interesting applications are provided. The problem of protein folding and protein evolution are also considered, and the key issues and open questions are highlighted. We include an experimental section on polymers which introduces the most relevant aspects of linear polymers relevant to this work. The last two sections are dedicated to applications, one in materials science, such as fractal features of plasma-treated polymeric materials surfaces and the growth of polymer thin films, and a second one in biology, by considering among others long linear polymers, such as DNA, confined within a finite domain.

Main-Chain Azobenzene Poly(ether ester) Multiblock Copolymers for Strong and Tough Light-Driven Actuators

The stimulus-responsive polymeric materials have attracted great research interest, especially those remotely manipulated materials with potential applications in actuators and soft robotics. Here we report a photoresponsive main-chain actuator based on azobenzene poly(ether ester) multiblock copolymer (mBCP) thermoplastic elastomers, (PTAD-b-PTMO-b-PTAD)n, which were synthesized by a cascade polycondensation-coupling ring-opening polymerization method using poly(tetramethylene oxide) (PTMO) and azobenzene-containing cyclic oligoesters (COTADs) as monomers. The thermal, mechanical, and microphase separation behaviors of mBCPs could be flexibly tuned by altering the ratios of soft-to-hard segments and block number (n). The oriented azobenzene mBCP fibers were prepared by melt spinning, showing reversible photoresponsive properties with remarkably high strength (∼1000 MPa) and high elongation at break comparable to spider silks. Fast photoinduced bending and contraction were successfully achieved in these fibers with high work and power densities and energy conversion efficiency, enabling it to lift up about 250 times of its own weight. Moreover, it can take out materials inside the tube by UV-light control. These fibers could be applied in light-driven actuators or telecontrolled robot arms.

Ferroelectric BaTiO3 Freestanding Sheets for an Ultra-High-Speed Light-Driven Actuator

Light-driven actuators convert optical energy into physical motion. Organic materials, commonly used in light-driven actuators thus far, suffer from two limitations: slow repetitive operation and the requirement of two different light sources. Herein, we report a high-speed, light-driven actuator that can be operated by a single light source with low-energy density. We achieved this breakthrough by utilizing a freestanding epitaxial sheet of ferroelectric BaTiO3. One repetitive operation takes only 120 μs, which is 104 times faster than that of organic-based counterparts. The high-speed operation is derived from the light-induced nonthermal deformation provided by the excellent ferroelectricity (remnant polarization of 23 μC/cm2) and piezoelectricity (d33 of 600 pm/V) of the sheet. The displacement-to-length ratio is achieved to be 3.7% with a relatively low laser power density (10-200 mW/cm2) compared to previously reports (150-109 mW/cm2). Furthermore, the actuator was operable even in water, demonstrating its potential in various applications.

Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle

Soft underwater swimming robots actuated by smart materials have unique advantages in exploring the ocean, such as low noise, high flexibility, and friendly environment interaction ability. However, most of them typically exhibit limited swimming speed and flexibility due to the inherent characteristics of soft actuation materials. The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented. The results show that by controlling the two independent actuating units of a biomimetic actuator, the robotic fish can not only achieve continuous C-shaped body motion similar to natural fish but also have a large bending angle (maximum unidirectional angle is about 40°) and thrust force (peak thrust is about 14 mN). In addition, the coupling relationship between the swimming speed and actuating parameters of the robotic fish is established through experiments and theoretical analysis. By optimizing the control strategy, the robotic fish can demonstrate a fast swimming speed of 76 mm/s (0.76 body length/s), which is much faster than most of the reported soft robotic fish driven by nonbiological soft materials that swim in body and/or caudal fin propulsion mode. What's more, by applying programmed voltage excitation to the actuating units of the bionic muscle, the robotic fish can be steered along specific trajectories, such as continuous turning motions and an S-shaped routine. This study is beneficial for promoting the design and development of high-performance soft underwater robots, and the adopted biomimetic mechanisms, as well as actuating methods, can be extended to other various flexible devices and soft robots.

Photo-controllable microcleaner: photo-induced crawling motion and particle transport of azobenzene crystals on a liquid-like surface

Organic crystals of 3,3'-dimethylazobenzene (DMAB) exhibit photo-induced crawling motion on solid surfaces when they are simultaneously irradiated with ultraviolet and visible light from opposite directions. DMAB crystals are candidates for light-driven cargo transporters, having simple chemical compositions and material structures. However, fast crawling motion without significant shape deformation has not yet been achieved. In this study, compared with hydrophilic glass and conventional hydrophobic surfaces with alkyl chains, siloxane-based hybrid surfaces, which are "liquid-like surfaces," result in the fastest crawling motion (4.2 μm min-1) while the droplet-like shape of DMAB crystals is maintained. Additionally, we successfully demonstrate that the DMAB crystals are capable of capturing and carrying silica particles on the hybrid surface. The transport direction is changed on demand without releasing the particles by simply changing the irradiation direction. The particles can be left on the substrate by removing the DMAB crystals via sublimation at room temperature. This result showcases a new concept of "photo-controllable microcleaner" that can operate a series of cargo capture-carry-release tasks. We expect this transporter to contribute to the development of crystal actuators, microfluidics, and microscale molecular flasks/reactors.

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications

Numerous soft actuators based on pneumatic network (PneuNet) design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is predetermined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the RT-SPA's potential for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The article begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.

Photomechanical responses of coordination polymers regulated by precise organization of the photoactive centers

Three photoactive Cd(II) coordination polymers (CPs), [Cd (Fsbpe)(DBBA)2]·2DMF (CP1), [Cd(Fepbpe)(DBBA)2]·2DMF (CP2) and [Cd(Fsbpeb)(DBBA)2] (CP3) (DBBA = 3,5-dibromobenzoic acid, DMF = dimethyl formamide) with similar 1D chain motifs exhibited completely different photosalient behaviors (PS) in response to UV light. Mechanical motion was triggered by [2+2] photocycloaddition and regulated by positioning of the photoactive alkene centers relative to the crystal axis. This solid-state reaction was reversed by heating and photomechanical behaviour was repeated over several cycles. A simple photoactuating device was prepared using a CP3-PVA composite.

A review on intelligence of cellulose based materials

Cellulose based materials are widely used in various fields such as papermaking, packaging, composite materials, textiles and clothing due to their diverse types, environmental friendliness, natural degradation, high specific strength, and low cost. The intelligence of cellulose based materials will further expand their application fields. This article first gives an in-depth analyzation on the intelligent structural design of these materials according to the two major categories of isotropic and anisotropic, then lists the main preparation methods of cellulose based intelligent materials. Subsequently, this article systematically summarizes the recent intelligent response methods and characteristics of cellulose based materials, and extensively elaborates on the intelligent application of these materials. Finally, the prospects for the intelligence of cellulose based materials are discussed.

Transforming patterned defects into dynamic poly-regional topographies in liquid crystal oligomers

We create high-aspect-ratio dynamic poly-regional surface topographies in a coating of a main-chain liquid crystal oligomer network (LCON). The topographies form at the topological defects in the director pattern organized in an array which are controlled by photopatterning of the alignment layer. The defect regions are activated by heat and/or light irradiation to form reversible topographic structures. Intrinsically, the LCON is rubbery and sensitive to temperature changes, resulting in shape transformations. We further advanced such system to make it light-responsive by incorporating azobenzene moieties. Actuation reduces the molecular order of the LCON coating that remains firmly adhered to the substrate which gives directional shear stresses around the topological defects. The stresses relax by deforming the surfaces by forming elevations or indents, depending on the type of defects. The formed topographies exhibit various features, including two types of protrusions, ridges and valleys. These poly-regional structures exhibit a large modulation amplitude of close to 60%, which is 6 times larger than the ones formed in liquid crystal networks (LCNs). After cooling or by blue light irradiation, the topographies are erased to the initial flat surface. A finite element method (FEM) model is adopted to simulate structures of surface topographies. These dynamic surface topographies with multilevel textures and large amplitude expand the application range, from haptics, controlled cell growth, to intelligent surfaces with adjustable adhesion and tribology.

Dynamic Covalent Bonded Gradient Structured Actuators with Mechanical Robustness and Self-Healing Ability

Flexible actuators with excellent adaptability and interaction safety have a wide range of application prospects in many fields. However, current flexible actuators have problems such as fragility and poor actuating ability. Here, inspired by the features of nacre structure, a gradient structured flexible actuator is proposed with mechanical robustness and self-healing ability. By introducing dynamic boronic ester bonds at the interface between MXene nanosheets and epoxy natural rubber matrix, the resulting nanocomposites with ordered micro-nano structures exhibit excellent tensile strength (25.03 MPa) and satisfactory repair efficiency (81.2%). In addition, the gradient distribution structure of MXene nanosheets endows the actuator with stable photothermal conversion capability, which can quickly respond to near-infrared light stimulation. The interlayer dynamic covalent bond crosslinking enables good response speed after multiple bending and is capable of functional self-healing after damage. This work introduces gradient structure and dynamic covalent bonding into flexible actuators, which provides a reference for the fabrication of self-healing soft robots, wearable, and other healable functional materials.

Achieving Smart Photochromics Using Water-Processable, High-Contrast, Oxygen-Sensing, and Photoactuating Thiazolothiazole-Embedded Polymer Films

Water-soluble dipyridinium thiazolo[5,4-d]thiazole (TTz) compounds are incorporated into inexpensive poly(vinyl alcohol) (PVA)/borax films and exhibit fast (<1 s), high-contrast photochromism, photofluorochromism, and oxygen sensing. Under illumination, the films change from clear/yellow TTz2+ to purple TTz•+ and then blue TTz0. The contrast and speed of the photochromism are dependent on the polymer matrix redox properties and the concentration of TTz2+. The photoreduced films exhibit strong, near-infrared light (1000-1500 nm) absorbances in addition to visible color changes. Spectroscopic ellipsometry was used to establish the complex dielectric function for the TTz2+ and TTz0 states. Incorporating non-photochromic dyes yields yellow-to-green and pink-to-purple photochromism. Additionally, when illuminated, reversible photoactuation occurs, causing mechanical contraction in the TTz-embedded films. The blue film returns to its colorless state via exposure to O2, making the films able to sense oxygen and leak direction for smart packaging. These films show potential for use in self-tinting smart windows, eyeglasses, displays, erasable memory devices, fiber optic communication, and oxygen sensing.

Double layered asymmetrical hydrogels enhanced by thermosensitive microgels for high-performance mechanosensors and actuators

Thermosensitive hydrogels have found extensive applications in soft devices, but they often suffer from limited functionalities, low response rate and small response amplitude. In this work, double layered asymmetrical hydrogels composed of a thermosensitive layer and a non-thermosensitive layer are developed to simultaneously achieve high-performance mechanosensing and actuating properties in a single hydrogel. In thermosensitive layer, thermosensitive microgels are introduced to construct hierarchical structure, which accounts for the enhanced thermosensitive behaviors by cooperative responsiveness. In non-thermosensitive layer, poly(acrylamide-co-acrylic acid) (P(AM-co-AA)) hydrogel is constructed. KCl is introduced as conductive component. Mechanosensors for monitoring various mechanical stimuli in daily life have been fabricated utilizing such hydrogels and high gauge factors (GF) have been achieved, 0.38 for resistive strain sensors, 9.40 kPa-1 for piezoresistive pressure sensors and 3.92 kPa-1 for capacitive pressure sensors. Because of the asymmetrical structure, such hydrogels also exhibit outstanding actuating properties with a fast response rate of 863°/min and a bending amplitude about 360°. Interestingly, grasping-releasing of target objects utilizing an octopus-shaped hydrogel actuator and temperature alerting based on hydrogel actuator are also demonstrated. Overall, the double layered asymmetrical ionic hydrogels have provided a new clue to construct hydrogel devices with multiple functionalities and enhanced response properties.

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

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

Tunable Light-Responsive Polyurethane-urea Elastomer Driven by Photochemical and Photothermal Coupling Mechanism

Light-driven soft actuators based on photoresponsive materials can be used to mimic biological motion, such as hand movements, without involving rigid or bulky electromechanical actuations. However, to our knowledge, no robust photoresponsive material with desireable mechanical and biological properties and relatively simple manufacture exists for robotics and biomedical applications. Herein, we report a new visible-light-responsive thermoplastic elastomer synthesized by introducing photoswitchable moieties (i.e., azobenzene derivatives) into the main chain of poly(ε-caprolactone) based polyurethane urea (PAzo). A PAzo elastomer exhibits controllable light-driven stiffness softening due to its unique nanophase structure in response to light, while possessing excellent hyperelasticity (stretchability of 575.2%, elastic modulus of 17.6 MPa, and strength of 44.0 MPa). A bilayer actuator consisting of PAzo and polyimide films is developed, demonstrating tunable bending modes by varying incident light intensities. Actuation mechanism via photothermal and photochemical coupling effects of a soft-hard nanophase is demonstrated through both experimental and theoretical analyses. We demonstrate an exemplar application of visible-light-controlled soft "fingers" playing a piano on a smartphone. The robustness of the PAzo elastomer and its scalability, in addition to its excellent biocompatibility, opens the door to the development of reproducible light-driven wearable/implantable actuators and lightweight soft robots for clinical applications.

Light-Responsive Soft Robot Integrating Actuation and Function Based on Laser Cutting

Soft robots with good deformability and adaptability have important prospects in the bionics and intelligence field. However, current research into soft robots is primarily limited to the study of actuators and ignores the integrated use of functional devices and actuators. To enrich the functions of soft robots and expand their application fields, it is necessary to integrate various functional electronic devices into soft robots to perform diverse functions during dynamic deformation. Therefore, this paper discusses methods and strategies to manufacture optical stimuli-responsive soft actuators and integrate them into functional devices for soft robots. Specifically, laser cutting allows us to fabricate an optically responsive actuator structure, e.g., the curling direction can be controlled by adjusting the direction of the cutting line. Actuators with different bending curvatures, including nonbending, can be obtained by adjusting the cutting depth, cutting width, and the spacing of the cutting line, which makes it easy to obtain a folded structure. Thus, various actuators with complex shape patterns can be obtained. In addition, we demonstrate a fabrication scheme for a worm-like soft robot integrated with functional devices (LEDs are used in this paper). The local nonbending design provides an asymmetric structure that provides driving power and avoids damage to the functional circuit caused by the large deformation during movement. The integration of drive and function provides a new path for the application of soft robots in the intelligence and bionics field.

Photo-activated dynamic isomerization induced large density changes in liquid crystal polymers: A molecular dynamics study

We use molecular dynamics simulations to unravel the physics underpinning the light-induced density changes caused by the dynamic trans-cis-trans isomerization cycles of azo-mesogens embedded in a liquid crystal polymer network, an intriguing experimental observation reported in the literature. We employ two approaches, cyclic and probabilistic switching of isomers, to simulate dynamic isomerization. The cyclic switching of isomers confirms that dynamic isomerization can lead to density changes at specific switch-time intervals. The probabilistic switching approach further deciphers the physics behind the non-monotonous relation between density reduction and light intensities observed in experiments. Light intensity variations in experiments are accounted for in simulations by varying the trans-cis and cis-trans isomerization probabilities. The simulations show that an optimal combination of these two probabilities results in a maximum density reduction, corroborating the experimental observations. At such an optimal combination of probabilities, the dynamic trans-cis-trans isomerization cycles occur at a specific frequency, causing significant distortion in the polymer network, resulting in a maximum density reduction.

Shape programming of liquid crystal elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials that demonstrate reversible actuation when exposed to external stimuli, such as light or heat. The actuation's complexity depends heavily on the instilled liquid crystal alignment, programmed into the material using various shape-programming processes. As an unavoidable part of LCE synthesis, these also introduce geometrical and output restrictions that dictate the final applicability. Considering LCE's future implementation in real-life applications, it is reasonable to explore these limiting factors. This review offers a brief overview of current shape-programming methods in relation to the challenges of employing LCEs as soft, shape-memory components in future devices.

Soft multi-layer actuators integrated with the functions of electrical energy harvest and storage

Soft multi-layer actuators are smart, lightweight, and flexible, which can be used in a wide range of fields such as artificial muscles, advanced medical devices, and wearable devices. The research on the actuation property of the soft actuators has made significant progress, paving the way for the controllable motions of the actuators. However, compared with the intelligence and adaptability of life in nature, these actuators still have the problem of insufficient intelligence. The phenomenon is reflected in a lack of continuous supply of energy. Therefore, it has become a development trend to combine functions such as energy harvesting, storage, and conversion with actuators to build intelligent actuators. This concept presents a synopsis of the advancements made in soft actuators that have been coupled with the capabilities of electrical energy harvesting and storage. The design concepts and typical applications of this soft smart actuators are introduced in detail. Finally, the future research directions and applications of smart actuators are prospected from our perspective.

Bioinspired Stimuli-Responsive Materials for Soft Actuators

Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.

Multifunctional UV-NIR Dual Light-Responsive Soft Actuators from a Main-Chain Azobenzene Semi-Crystalline Poly(ester-amide) Doped with Polydopamine Nanoparticles

The development of soft photoactuators with multifunctionality and improved performance is highly important for their broad applications. Herein, we report on a facile and efficient strategy for fabricating such photoactuators with UV-NIR dual light-responsivity, room-temperature 3D shape reprogrammability and reprocessability, and photothermal healability by doping polydopamine (PDA) nanoparticles into a main-chain azobenzene semi-crystalline poly(ester-amide) (PEA). The PEA/PDA nanoparticle composite was readily processed into free-standing films with enhanced mechanical and photomechanical properties compared with the blank PEA films. Its physically crosslinked uniaxially oriented films showed rapid and highly reversible photochemically induced bending/unbending under the UV/visible light irradiation at room temperature in both the air atmosphere and water. When exposed to the NIR light, they (and their bilayer films formed with a polyimide film) exhibited photothermally induced bending even at a temperature much lower than their crystalline-to-isotropic phase transition temperature based on a unique mechanism (involving photothermally induced polymer chain relaxation due to the disruption of their hydrogen bonds). The room-temperature 3D shape reprogrammability and reprocessability and photothermal healability of the composite polymer films were also demonstrated. Such multifunctional dual light-responsive photoactuators with well-balanced mechanical robustness, actuation stability, 3D shape reprogrammability/reprocessability and photothermal healability hold much promise in various photoactuating applications.

Capillary-Assisted Assembly of Soft Conductive Polymer Nanopillar/Tube Arrays and Applications

Nanopillar/tube arrays have emerged as encouraging platforms, possessing remarkable advantages, including large specific areas and highly aligned orientations. Despite the progress of nano/microfabrication technologies, facile and controllable fabrication of conductive polymer nanopillar/tube arrays remains challenging. In this study, we demonstrate that the air-liquid interfacial self-assembly can be extended to obtain three-dimensional nanostructured arrays. A smart and novel method is proposed for preparing uniform conductive polymer nanopillar/tube arrays by a template-mediated interfacial synthesis approach. By utilizing capillary force, precise control processes of the nanostructure and patterned structure can be easily realized. Furthermore, a transfer strategy is devised, allowing for scalable fabrication and expansion of the applicability. Applications, including antibacterial surfaces and actuators, have been demonstrated. We extend the air-liquid interfacial synthesis technique as a powerful and universal strategy for producing ordered nanopillar/tube arrays and show the great potential of soft nanostructured arrays as advanced platforms in diverse applications.

Soft Fiber/Textile Actuators: From Design Strategies to Diverse Applications

Fiber/textile-based actuators have garnered considerable attention due to their distinctive attributes, encompassing higher degrees of freedom, intriguing deformations, and enhanced adaptability to complex structures. Recent studies highlight the development of advanced fibers and textiles, expanding the application scope of fiber/textile-based actuators across diverse emerging fields. Unlike sheet-like soft actuators, fibers/textiles with intricate structures exhibit versatile movements, such as contraction, coiling, bending, and folding, achieved through adjustable strain and stroke. In this review article, we provide a timely and comprehensive overview of fiber/textile actuators, including structures, fabrication methods, actuation principles, and applications. After discussing the hierarchical structure and deformation of the fiber/textile actuator, we discuss various spinning strategies, detailing the merits and drawbacks of each. Next, we present the actuation principles of fiber/fabric actuators, along with common external stimuli. In addition, we provide a summary of the emerging applications of fiber/textile actuators. Concluding with an assessment of existing challenges and future opportunities, this review aims to provide a valuable perspective on the enticing realm of fiber/textile-based actuators.

Mechanochromic and ionic conductive cholesteric liquid crystal elastomers for biomechanical monitoring and human-machine interaction

Cholesteric liquid crystal elastomers (CLCEs) that combine rubbery elasticity with structural colour from self-assembled helical nanostructures are of paramount importance for diverse applications such as biomimetic skins, adaptive optics and soft robotics. Despite great advances, it is challenging to integrate electrical sensing and colour-changing characteristics in a single CLCE system. Here, we report the design and synthesis of an ionic conductive cholesteric liquid crystal elastomer (iCLCE) through in situ Michael addition and free-radical photopolymerization of CLCE precursors on silane-functionalized polymer ionic liquid networks, in which robust covalent chemical bonding was formed at the interface. Thanks to superior mechanochromism and ionic conductivity, the resulting iCLCEs exhibit dynamic colour-changing and electrical sensing functions in a wide range upon mechanical stretching, and can be used for biomechanical monitoring during joint bending. Importantly, a capacitive elastomeric sensor can be constructed through facilely stacking iCLCEs, where the optical and electrical dual-signal reporting performance allows intuitive visual localization of pressure intensity and distribution. Moreover, proof-of-concept application of the iCLCEs has been demonstrated with human-interactive systems. The research disclosed herein can provide new insights into the development of bioinspired somatosensory materials for emerging applications in diverse fields such as human-machine interaction, prostheses and intelligent robots.

Hygromachines: Humidity-Powered Wheels, Seesaws, and Vehicles

Hygroscopic soft actuators offer an attractive means to convert environmental energy to mechanical motions as they use water vapor, a ubiquitous substance in the atmosphere. To overcome the limits of existing hygroactuators, such as simplistic actuation mode, slow response, and low efficiency, here we present three kinds of humidity-powered soft machines adopting directionally electrospun hygroresponsive nanofibrous sheets. The wheels, seesaws, and vehicles developed in this work utilize spatial humidity gradient naturally established near moist surfaces such as human skin, so that they operate spontaneously, realizing energy scavenging or harvesting. We also constructed a theoretical framework to mechanically analyze their dynamics, which allowed us to optimize their design to obtain the highest motion speed physically possible.

Multistimuli-Responsive Actuators Derived from Natural Materials for Entirely Biodegradable and Programmable Untethered Soft Robots

Untethered soft robots have attracted growing attention due to their safe interaction with living organisms, good flexibility, and accurate remote control. However, the materials involved are often nonbiodegradable or are derived from nonrenewable resources, leading to serious environmental problems. Here, we report a biomass-based multistimuli-responsive actuator based on cuttlefish ink nanoparticles (CINPs), wood-derived cellulose nanofiber (CNF), and bioderived polylactic acid (PLA). Taking advantage of the good photothermal conversion performance and exceptionally hygroscopic sensitivity of the CINPs/CNF composite (CICC) layer and the opposite thermally induced deformation behavior between the CICC layer and PLA layer, the soft actuator exhibits reversible deformation behaviors under near-infrared (NIR) light, humidity, and temperature stimuli, respectively. By introducing patterned or alignment structures and combining them with a macroscopic reassembly strategy, diverse programmable shape-morphing from 2D to 3D such as letter-shape, coiling, self-folding, and more sophisticated 3D deformations have been demonstrated. All of these deformations can be successfully predicted by finite element analysis (FEA) . Furthermore, this actuator has been further applied as an untethered grasping robot, weightlifting robot, and climbing robot capable of climbing a vertical pole. Such actuators consisting entirely of biodegradable materials will offer a sustainable future for untethered soft robots.

3D printing stretchable and compressible porous structures by polymerizable emulsions for soft robotics

UV-curable 3D printing compositions for the fabrication of stretchable and flexible porous structures for soft robotics are presented. The stereolithography-based printing compositions are water-in-oil (W/O) emulsions in which water droplets are the pore-forming material, and the continuous phase is a stretchable polyurethane diacrylate (PUA). The porosity of the printed objects is controlled by the material's micro-porosity and by the macro-porosity obtained by a cellular design. The mechanical behavior can be tailored by the composition of the emulsion, providing both compliance and strength while utilizing a unique optimization methodology for fitting the ink to the 3D printer. This approach enables developing materials having superior mechanical properties, with the highest reported elongation-at-break for 3D printed porous structures, 450%. The emulsion-based printing compositions were utilized for fabricating a soft robotic gripper with unique actuation performance that could not be obtained with commonly used materials.

Polarization-driven reversible actuation in a photo-responsive polymer composite

Light-responsive polymers and especially amorphous azopolymers with intrinsic anisotropic and polarization-dependent deformation photo-response hold great promises for remotely controlled, tunable devices. However, dynamic control requires reversibility characteristics far beyond what is currently obtainable via plastic deformation of such polymers. Here, we embed azopolymer microparticles in a rubbery elastic matrix at high density. In the resulting composite, cumulative deformations are replaced by reversible shape switching - with two reversible degrees of freedom defined uniquely by the writing beam polarization. We quantify the locally induced strains, including small creeping losses, directly by means of a deformation tracking algorithm acting on microscope images of planar substrates. Further, we introduce free-standing 3D actuators able to smoothly undergo multiple configurational changes, including twisting, roll-in, grabbing-like actuation, and even continuous, pivot-less shape rotation, all dictated by a single wavelength laser beam with controlled polarization.

Magnetic field-assisted fabrication of quasi-bilayered, multi-responsive and patternable actuators

Quasi-bilayered actuators composed of Fe3O4-decorated graphene oxide and polyvinylidene fluoride have been fabricated in a magnetic field. The actuators could stably respond to multiple stimuli including infrared light, acetone vapour and a magnetic field. The actuator is also patternable because of the magnetism-induced spatial distribution of fillers in the matrix.

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.

Light-Driven Self-Oscillation of Thermoplasmonic Nanocolloids

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

Study of a Multiple Responses, High Deformation, and Programmable PLA-PPC/PVA-PDA Actuator

The intelligent response actuators based on bilayer polymer can deform under the stimulation of temperature, humidity, light, and other external environment, which is the focus of research. However, achieving multiple responses, high deformation, and programmability is still one of the challenges for these actuators. Herein, a nondetachable bilayer structure, polylactic acid-polypropylene carbonate/polyvinyl alcohol-polydopamine (PLA-PPC/PVA-PDA) multiresponse programmable actuator is prepared by a simple scraping film method. Using PLA-PPC as the solvent-driven response layer, the effects of length, thickness, shape, and solvent vapor on the deformation of PLA-PPC/PVA-PDA actuators are studied. Among them, the high curvature of the film stimulated by ethyl acetate (EA) solution is 29.85 cm-1 . Using PVA-PDA as the response layer to water molecules and infrared (IR) light, the bilayer film shows excellent curling performance. Moreover, the dynamic processes of human clothing and biomimetic squid under solvent stimulation, the picture rolling motion under water molecule stimulation, the biomimetic flower blooming and merging under the synergistic of water molecules and IR light, and the deformation process of biomimetic mimosa under the competition between water molecules and IR light are simulated, which broadens the road for the development of intelligent driving materials.

Bio-Inspired Hydrogel-Elastomer Actuator with Bidirectional Bending and Dynamic Structural Color

In nature, some creatures can change their body shapes and surface colors simultaneously to respond to the external environments, which greatly inspired researchers in the development of color-tunable soft actuators. In this work, we present a facile method to prepare a smart hydrogel actuator that can bend bidirectionally and change color simultaneously, just like an octopus. The actuator is fabricated by elastomer/hydrogel bilayer and the hydrogel layer was decorated with thermoresponsive microgels as the photonic crystal blocks. Compared with the previously reported poly(N-isopropylacrylamide) hydrogel-based bilayer hydrogel actuators, which are generally limited to one-directional deformation, the elastomer/hydrogel bilayer actuator prepared in our work exhibits unique bidirectional bending behavior in accordance with the change of structural color. The bending degrees can be changed from -360° to 270° in response to solution temperatures ranging from 20 °C to 60 °C. At the same time, the surface color changes from red to green, and then to blue, covering the full visible light spectrum. The bending direction and degree of the hydrogel actuator can easily be adjusted by tuning the layer thickness ratio of the elastomer/hydrogel or the composition of the hydrogel. The color-tunable hydrogel-elastomer actuator reported in this work can achieve both programmable deformations and color-changing highly resembling the natural actuating behaviors of creatures.

Enable Multi-Stimuli-Responsive Biomimetic Actuation with Asymmetric Design of Graphene-Conjugated Conductive Polymer Gradient Film

In this paper, multiresponsive actuators based on asymmetric design of graphene-conjugated poly(3,4-ethylene dioxythiophene): poly(styrenesulfonate) (PEDOT:PSS) gradient films have been developed by a simple drop casting method. The biomimetic actuation is attributed to the hygroscopic expansion property of PEDOT:PSS and the gradient distribution of graphene sheets within the film, which resembles the hierarchical swelling tissues of some plants in nature. Graphene-conjugated PEDOT:PSS (GCP) actuators exhibit reversible bending behavior under multistimuli such as moisture, organic vapor, electrothermal, and photothermal heating. Noticeably, the bending curvature reaches 2.15 cm-1 under applied voltage as low as 1.5 V owing to the high electrical conductivity of GCP actuator. To mimic the motions of nyctinastic plants, a GCP artificial flower that spreads its petals under sunlight illumination has been fabricated. GCP actuators have been also demonstrated as intelligent light-controlled switches for light-emitting diodes and smart curtains for thermal management. Not only do the GCP gradient films exhibit potential applications in flexible electronics and energy harvesting/storage devices but also the facile fabrication of multiresponsive GCP actuators may shed light on the development of soft robotics, artificial muscles, wearable electronics, and smart sensors.

Biohybrid Soft Robots Powered by Myocyte: Current Progress and Future Perspectives

Myocyte-driven robots, a type of biological actuator that combines myocytes with abiotic systems, have gained significant attention due to their high energy efficiency, sensitivity, biocompatibility, and self-healing capabilities. These robots have a unique advantage in simulating the structure and function of human tissues and organs. This review covers the research progress in this field, detailing the benefits of myocyte-driven robots over traditional methods, the materials used in their fabrication (including myocytes and extracellular materials), and their properties and manufacturing techniques. Additionally, the review explores various control methods, robot structures, and motion types. Lastly, the potential applications and key challenges faced by myocyte-driven robots are discussed and summarized.

Bioinspired humidity-responsive liquid crystalline materials: from adaptive soft actuators to visualized sensors and detectors

Inspired by nature, humidity-responsive materials and devices have attracted significant interest from scientists in multiple disciplines, ranging from chemistry, physics and materials science to biomimetics. Owing to their superiorities, including harmless stimulus and untethered control, humidity-driven materials have been widely investigated for application in soft robots, smart sensors and detectors, biomimetic devices and anticounterfeiting labels. Especially, humidity-responsive liquid crystalline materials are particularly appealing due to the combination of programmable and adaptive liquid crystal matrix and humidity-controllability, enabling the fabrication of advanced self-adaptive robots and visualized sensors. In this review, we summarize the recent progress in humidity-driven liquid crystalline materials. First, a brief introduction of liquid crystal materials, including liquid crystalline polymers, cholesteric liquid crystals, blue-phase liquid crystals and cholesteric cellulose nanocrystals is provided. Subsequently, the mechanisms of humidity-responsiveness are presented, followed by the diverse strategies for the fabrication of humidity-responsive liquid crystalline materials. The applications of humidity-driven devices will be presented ranging from soft actuators to visualized sensors and detectors. Finally, we provide an outlook on the development of humidity-driven liquid crystalline materials.

Photoresponsive hydrogel-based soft robot: A review

Soft robots have received a lot of attention because of their great human-robot interaction and environmental adaptability. Most soft robots are currently limited in their applications due to wired drives. Photoresponsive soft robotics is one of the most effective ways to promote wireless soft drives. Among the many soft robotics materials, photoresponsive hydrogels have received a lot of attention due to their good biocompatibility, ductility, and excellent photoresponse properties. This paper visualizes and analyzes the research hotspots in the field of hydrogels using the literature analysis tool Citespace, demonstrating that photoresponsive hydrogel technology is currently a key research direction. Therefore, this paper summarizes the current state of research on photoresponsive hydrogels in terms of photochemical and photothermal response mechanisms. The progress of the application of photoresponsive hydrogels in soft robots is highlighted based on bilayer, gradient, orientation, and patterned structures. Finally, the main factors influencing its application at this stage are discussed, including the development directions and insights. Advancement in photoresponsive hydrogel technology is crucial for its application in the field of soft robotics. The advantages and disadvantages of different preparation methods and structures should be considered in different application scenarios to select the best design scheme.

Light-driven dandelion-inspired microfliers

In nature, many plants have evolved diverse flight mechanisms to disperse seeds by wind and propagate their genetic information. Inspired by the flight mechanism of the dandelion seeds, we demonstrate light-driven dandelion-inspired microfliers based on ultralight and super-sensitive tubular-shaped bimorph soft actuator. Like dandelion seeds in nature, the falling velocity of the as-proposed microflier in air can be facilely controlled by tailoring the degree of deformation of the "pappus" under different light irradiations. Importantly, the resulting microflier is able to achieve a mid-air flight above a light source with a sustained flight time of ~8.9 s and a maximum flight height of ~350 mm thanks to the unique dandelion-like 3D structures. Unexpectedly, the resulting microflier is found to exhibit light-driven upward flight accompanied by autorotating motion, and the rotation mode can be customized in either a clockwise or counterclockwise direction by engineering the shape programmability of bimorph soft actuator films. The research disclosed herein can offer new insights into the development of untethered and energy-efficient artificial aerial vehicles that are of paramount significance for many applications from environmental monitoring and wireless communication to future solar sail and robotic spacecraft.

Stiffness Variable Polymer for Soft Actuators with Sharp Stiffness Switch and Fast Response

Stiffness variable polymers are an essential family of materials that have aroused considerable attention in soft actuators. Although lots of strategies have been proposed to achieve variable stiffness, it remains a formidable challenge to achieve a polymer with a wide stiffness range and fast stiffness change. Herein, a series of variable stiffness polymers with a fast stiffness change and wide stiffness range were successfully synthesized, and the formulas were optimized via Pearson correlation tests. The rigid/soft stiffness ratio of the designed polymer samples can reach up to 1376-folds. Impressively, owing to the phase-changing side chains, the narrow endothermic peak can be observed with full width at half-maximum within 5 °C. Moreover, the shape memory properties of the shape fixity (R_f) and shape recovery ratio (R_r) values of the shape memory properties could reach up to 99.3 and 99.2%, respectively. Then, the obtained polymer was introduced into a kind of designed 3D printing soft actuator. The soft actuator can achieve sharp heating-cooling cycle of 19 s under a 1.2 A current with 4 °C water as coolant and can lift a 200 g weight at the actuating state. Moreover, the stiffness of the soft actuator can reach up to 718 mN/mm. The soft actuator exhibits an outstanding actuate behavior and stiffness switchable capability. We expect our design strategy and obtained variable stiffness polymers to be potentially applied in soft actuators and other devices.

Sunlight-powered self-excited oscillators for sustainable autonomous soft robotics

As the field of soft robotics advances, full autonomy becomes highly sought after, especially if robot motion can be powered by environmental energy. This would present a self-sustained approach in terms of both energy supply and motion control. Now, autonomous movement can be realized by leveraging out-of-equilibrium oscillatory motion of stimuli-responsive polymers under a constant light source. It would be more advantageous if environmental energy could be scavenged to power robots. However, generating oscillation becomes challenging under the limited power density of available environmental energy sources. Here, we developed fully autonomous soft robots with self-sustainability based on self-excited oscillation. Aided by modeling, we have successfully reduced the required input power density to around one-Sun level through a liquid crystal elastomer (LCE)-based bilayer structure. The autonomous motion of the low-intensity LCE/elastomer bilayer oscillator "LiLBot" under low energy supply was achieved by high photothermal conversion, low modulus, and high material responsiveness simultaneously. The LiLBot features tunable peak-to-peak amplitudes from 4 to 72 degrees and frequencies from 0.3 to 11 hertz. The oscillation approach offers a strategy for designing autonomous, untethered, and sustainable small-scale soft robots, such as a sailboat, walker, roller, and synchronized flapping wings.

Bio-Inspired Soft-Rigid Hybrid Smart Artificial Muscle Based on Liquid Crystal Elastomer and Helical Metal Wire

Artificial muscles are of significant value in robotic applications. Rigid artificial muscles possess a strong load-bearing capacity, while their deformation is small; soft artificial muscles can be shifted to a large degree; however, their load-bearing capacity is weak. Furthermore, artificial muscles are generally controlled in an open loop due to a lack of deformation-related feedback. Human arms include muscles, bones, and nerves, which ingeniously coordinate the actuation, load-bearing, and sensory systems. Inspired by this, a soft-rigid hybrid smart artificial muscle (SRH-SAM) based on liquid crystal elastomer (LCE) and helical metal wire is proposed. The thermotropic responsiveness of the LCE is adopted for large reversible deformation, and the helical metal wire is used to fulfill high bearing capacity and electric heating function requirements. During actuation, the helical metal wire's resistance changes with the LCE's electrothermal deformation, thereby achieving deformation-sensing characteristics. Based on the proposed SRH-SAM, a reconfigurable blazed grating plane and the effective switch between attachment and detachment in bionic dry adhesion are accomplished. The SRH-SAM opens a new avenue for designing smart artificial muscles and can promote the development of artificial muscle-based devices.

Heterogeneity Regulation of Bilayer Polysaccharide Hydrogels for Integrating pH- and Humidity-Responsive Actuators and Sensors

Bilayer hydrogel-based actuators have attracted much interest because inhomogeneous structures are easily constructed in hydrogels. We used three kinds of polysaccharides, including anionic carboxymethyl cellulose (CMC), cationic chitosan (CS), and amphoteric carboxymethyl chitosan (CMCS), as both structure-constructing units and actuation-controlling units in this work to fabricate physically crosslinked poly(vinyl alcohol) bilayer hydrogels. The spatial heterogeneity was tuned by changing the types and concentrations of polysaccharides in different layers, to regulate pH- and humidity-driven actions of bilayer hydrogels. Based on the distortion of the ionic channel during the humidity-motivated deformation of bilayer hydrogels, a two-in-one flexible device integrating a humidity-driven actuator and humidity-responsive sensor was then developed, which could detect the alterations of environmental humidity in real time. Moreover, good tensile toughness and interfacial bonding as well as the strain-resistance effect endowed the bilayer hydrogels with the capability of identifying human motion as a strain sensor, unlocking more application scenarios. This work provides an overall insight into the heterogeneity regulation of bilayer hydrogels using polysaccharides as stimulus-responsive units and also proposes an interesting strategy of manufacturing hydrogel-based flexible devices with both actuating and sensing capabilities.

Red-light photoswitching of indigos in polymer thin films

Through simple synthetic derivatisation, the parent indigo dye becomes a red-light E-Z photoswitch exhibiting negative photochromism and tuneable thermal isomerisation kinetics. These attributes make indigo derivatives extremely attractive for applications related to materials and living systems. However, there is a lack of knowledge in translating indigo photoswitching dynamics from solution to solid state - the environment crucial for most applications. Herein, we study the photoswitching performance of six structurally distinct indigo derivatives in five polymers of varying rigidity. Three key strategies are identified to enable efficient photoswitching under red (660 nm) light: (i) choosing a soft polymer matrix to minimise its resistance toward the isomerisation, (ii) creating free volume around the indigo molecules through synthetic modifications, and (iii) applying low dye loading (<1% w/w) to inhibit aggregation. These strategies are shown to improve both photostationary state distributions and the thermal stability of the Z isomer. When all three strategies are implemented, the isomerisation performance (>80% Z form in the photostationary state) is nearly identical to that in solution. These findings thus pave the way for designing new red-light photochromic materials based on indigos.