Recent advances in colour-tunable soft actuators

Patterned Photonic Actuators with Dynamic Shape-Morphing and Color-Changing Capabilities Fabricated by Athermal Embossing Technology

Stimuli-responsive patterned photonic actuators, characterized by their patterned nano/microscale structures and capacity to demonstrate synergistic color changes and shape morphing in response to external stimuli, have attracted intense scientific attention. However, traditional patterned photonic actuator systems still face limitations such as cumbersome and time-consuming preparation processes and small-scale deformations. Herein, we introduce a facile approach involving an athermal embossing technique to rapidly fabricate patterned photonic actuators based on near-infrared (NIR) light-responsive liquid crystal elastomers. The resulting patterned photonic actuators demonstrate remarkable features, including brilliant angle-dependent structural color, complex three-dimensional actuation, and good color durability under NIR light stimulation. As illustrative demonstrations of the proof-of-concept, we fabricate two light-fuelled patterned photonic soft actuators: a butterfly-inspired actuator that can produce wing-flapping dynamic changes in structural color, and an origami crane-shaped actuator with shape memory, structural color information storage, and dynamic display properties. This strategy provides distinct insights into the design and fabrication of various patterned photonic soft robotic devices and intelligent actuators.

Water-sensitive fluorescent microgel inks to produce verifiable information for highly secured anti-counterfeiting

The decryption and verification of encrypted information via a simple and efficient method is always difficult and challenging in the field of information security. Herein, a series of water-sensitive fluorescent microgels are fabricated for highly secured anti-counterfeiting with authenticity identification. The initial negatively charged microgels (MG) are made up of N-isopropylacrylamide (NIPAM), acrylic acid (AAc) and anthracen-9-yl acrylate (9-ANA, blue fluorescent monomer). The prepared MGs can bind cationic fluorescent dyes such as 5-aminofluorescein (FITC, green fluorescent dye) and rhodamine B (Rh B, red fluorescent dye) via electrostatic interaction, emitting multi-fluorescent colors based on the fluorescence resonance energy transfer (FRET) process. Furthermore, the fluorescence colors of MG-derived systems can be rapidly changed by swelling in water, which can block the FRET process and change the aggregation state of dyes. With the assistance of inkjet printing, multi-color security patterns can be designed and encoded, which can be revealed by UV irradiation and further verified by water stimulation. This study has pioneered a novel strategy to verify the authenticity of decrypted information, which greatly improves the security level of information.

Fiber Actuators Based on Reversible Thermal Responsive Liquid Crystal Elastomer

Soft actuators inspired by the movement of organisms have attracted extensive attention in the fields of soft robotics, electronic skin, artificial intelligence, and healthcare due to their excellent adaptability and operational safety. Liquid crystal elastomer fiber actuators (LCEFAs) are considered as one of the most promising soft actuators since they can provide reversible linear motion and are easily integrated or woven into complex structures to perform pre-programmed movements such as stretching, rotating, bending, and expanding. The research on LCEFAs mainly focuses on controllable preparation, structural design, and functional applications. This review, for the first time, provides a comprehensive and systematic review of recent advances in this important field by focusing on reversible thermal response LCEFAs. First, the thermal driving mechanism, and direct and indirect heating strategies of LCEFAs are systematically summarized and analyzed. Then, the fabrication methods and functional applications of LCEFAs are summarized and discussed. Finally, the challenges and technical difficulties that may hinder the performance improvement and large-scale production of LCEFAs are proposed, and the development opportunities of LCEFAs are prospected.

MXenes for Bioinspired Soft Actuators: Advancements in Angle-Independent Structural Colors and Beyond

Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics, biomedical devices, and biomimetic systems. These actuators mimic the natural movements of living organisms, aiming to attain  enhanced flexibility, adaptability, and versatility. On the other hand, angle-independent structural color has been achieved through innovative design strategies and engineering approaches. By carefully controlling the size, shape, and arrangement of nanostructures, researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle. One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical, electrical, and optical properties. The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities. Overcoming material compatibility issues, improving color reproducibility, scalability, durability, power supply efficiency, and cost-effectiveness will play vital roles in advancing these technologies. This perspective appraises the development of bioinspired MXene-centered soft actuators with angle-independent structural color in soft robotics.

Applications of inverse opal photonic crystal hydrogels in the preparation of acid-base color-changing materials

Hydrogels are three-dimensional (3D) crosslinked network hydrophilic polymers that have structures similar to that of biological protein tissue and can quickly absorb a large amount of water. Opal photonic crystals (OPCs) are a kind of photonic band gap material formed by the periodic arrangement of 3D media, and inverse opal photonic crystals (IOPCs) are their inverse structure. Inverse opal photonic crystal hydrogels (IOPCHs) can produce corresponding visual color responses to a change in acid or alkali in an external humid environment, which has wide applications in chemical sensing, anti-counterfeiting, medical detection, intelligent display, and other fields, and the field has developed rapidly in recent years. In this paper, the research progress on fast acid-base response IOPCHs (pH-IOPCHs) is comprehensively described from the perspective of material synthesis. The technical bottleneck of enhancing the performance of acid-base-responsive IOPCHs and the current practical application limitations are summarized, and the development prospects of acid-base-responsive IOPCHs are described. These comprehensive analyses are expected to provide new ideas for solving problems in the preparation and application of pH-IOPCHs.

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.

Passively addressed robotic morphing surface (PARMS) based on machine learning

Reconfigurable morphing surfaces provide new opportunities for advanced human-machine interfaces and bio-inspired robotics. Morphing into arbitrary surfaces on demand requires a device with a sufficiently large number of actuators and an inverse control strategy. Developing compact, efficient control interfaces and algorithms is vital for broader adoption. In this work, we describe a passively addressed robotic morphing surface (PARMS) composed of matrix-arranged ionic actuators. To reduce the complexity of the physical control interface, we introduce passive matrix addressing. Matrix addressing allows the control of N2 independent actuators using only 2N control inputs, which is substantially lower than traditional direct addressing (N2 control inputs). Using machine learning with finite element simulations for training, our control algorithm enables real-time, high-precision forward and inverse control, allowing PARMS to dynamically morph into arbitrary achievable predefined surfaces on demand. These innovations may enable the future implementation of PARMS in wearables, haptics, and augmented reality/virtual reality.

Bioinspired Adaptable Indwelling Microneedles for Treatment of Diabetic Ulcers

Microneedles provide an effective strategy for transdermal drug delivery. Many endeavors have been devoted to developing smart microneedles that can respond to and interact with pathophysiological environments. Here, novel bioinspired adaptable indwelling microneedles with therapeutic exosome encapsulation are presented for diabetic wound healing by a combined fabrication strategy of template replication and 3D transfer printing. Such microneedles are composed of mesenchymal stem cell (MSC)-exosomes-encapsulated adjustable poly(vinyl alcohol) (PVA) hydrogel needle tips and detachable 3M medical tape supporting substrate. As the mechanical strength of the PVA hydrogel is ionically responsive due to Hofmeister effects, the hardness of the resultant microneedle tips can be upregulated by sulfate ions to ensure skin penetration and be softened by nitrate ions after tip-substrate detachment to adapt to the surrounding tissue and release exosomes. Because the MSC-exosomes can effectively activate fibroblasts, vascular endothelial cells, and macrophages, the indwelling microneedles are demonstrated with the function of promoting tissue regeneration and diabetic wound healing in full-thickness cutaneous wounds of diabetic rat models. These features indicate that the bioinspired adaptable indwelling microneedles are with practical values and clinical prospects in tissue and wound regeneration.

Cholesteric Liquid Crystal Polymeric Coatings for Colorful Artificial Muscles and Motile Humidity Sensor Skin Integrated with Magnetic Composites

Structural colorful cholesterics show impressive susceptibility to external stimulation, leading to applications in electro/mechano-chromic devices. However, out-of-plane actuation of structural colorful actuators based on cholesterics and the integration with other stimulation remains underdeveloped. Herein, colorful actuators and motile humidity sensors are developed using humidity-responsive cholesteric liquid crystal networks (CLCNs) and magnetic composites. The developed colorful actuator can exhibit synergistic out-of-plane shape morphing and color change in response to humidity, with CLCNs as colorful artificial muscles. Through the integration with magnetic control, the motile sensor can be navigated to open and confined spaces with the aid of friction to detect local relative humidity. The integration of multi-stimulation actuation of cholesteric magnetic actuators will expand the research frontier of structural colorful actuators and motile sensors for confined spaces.

Pixelating Responsive Structural Color via a Bioinspired Morphable Concavity Array (MoCA) Composed of 2D Photonic Crystal Elastomer Actuators

Stimuli-responsive structural coloration allows the color change of soft substrates in response to environmental stimuli such as heat, humidity, and solvents. Such color-changing systems enable smart soft devices, such as the camouflageable skin of soft robots or chromatic sensors in wearable devices. However, individually and independently programmable stimuli-responsive color pixels remain significant challenges among the existing color-changing soft materials and devices, which are crucial for dynamic display. Inspired by the dual-color concavities on butterfly wings, a morphable concavity array to pixelate the structural color of two-dimensional photonic crystal elastomer and achieve individually and independently addressable stimuli-responsive color pixels is designed. The morphable concavity can convert its surface between concave and flat upon changes in the solvent and temperature, accompanied by angle-dependent color-shifting. Through multichannel microfluidics, the color of each concavity can be controllably switched. Based on the system, the dynamic display by forming reversibly editable letters and patterns for anti-counterfeiting and encryption are demonstrated. It is believed that the strategy of pixelating optical properties through locally altering surface topography can inspire the design of new transformable optical devices, such as artificial compound eyes or crystalline lenses for biomimetic and robotic applications.

Magnetic-Fluorescent Responsive Janus Photonic Crystal Beads for Self-Destructive Anti-counterfeiting

In this study, we fabricate magnetic-fluorescent responsive Janus photonic crystal beads (JPCBs) based on poly(styrene-methyl methacrylate-acrylic acid) (p(St-MMA-AA)) colloidal nanoparticles, Fe₃O₄, and photobase generators used for self-destructive anti-counterfeiting. We synthesize two kinds of photobase generators that can react with fluorescamine to produce various fluorescence colors. A microfluidic method is used to obtain the Janus photonic crystal beads. The upper portions of the JPCBs are photonic crystals assembled with colloidal spheres, whereas the Fe₃O₄ settles down to the bottom of the JPCBs due to its higher density. Photobase generators are distributed in photonic crystal gaps. Because of the magnetism of the Fe₃O₄, the JPCBs could be flipped from one side to the other in the presence of a magnet. After being exposed to UVC light and fluorescamine, the JPCBs can fluoresce under UVA light. Then, we create Janus microbeads arrays with various types of beads and apply them to the visitor card, bracelet, and box label to provide irreversible and self-destructive anti-counterfeiting. The JPCBs are capable of being encoded and angle-independently displayed, which are crucial to their applications in anti-counterfeiting, information coding, and array display.

Liquid crystal-based structural color actuators

Animals can modify their body shape and/or color for protection, camouflage and communication. This adaptability has inspired fabrication of actuators with structural color changes to endow soft robots with additional functionalities. Using liquid crystal-based materials for actuators with structural color changes is a promising approach. In this review, we discuss the current state of liquid crystal-based actuators with structural color changes and the potential applications of these structural color actuators in soft robotic devices.

Bioinspired Polyacrylamide/(polyvinyl alcohol-copper acetate) Hydrogel with Cooling-triggered Shape Memory, Color Changing, and Self-healing Behavior

Inspired by many living creatures with adjustment of shape and color in ever-changing environment, color changeable shape memory hydrogels are designed and expected to be potential candidates in the fields spanning from anti-counterfeiting to biomedical devices. However, they normally require complex synthesis, and more importantly, the cooling-induced shape recovery hydrogel is still rare and in its infancy so far. Herein, we have developed a unique color changeable shape memory hydrogel by simply incorporating polyvinyl alcohol and copper acetate into covalent polyacrylamide network. As core functional element, copper ions serve as reversible crosslinks after heating to achieve excellent cooling-triggered shape memory effect, color shifting and self-healing behavior, showing significant potential in diverse applications like grabbing, information encryption, and biomimetic designs. This work may guide the development of cooling-triggered smart hydrogels for practical applications. This article is protected by copyright. All rights reserved.

Toward High Sensitivity: Perspective on Colorimetric Photonic Crystal Sensors

The sensitivity of colorimetric photonic crystal (PC) sensors have been significantly improved with the advancement of deformable structural color materials, structures design, sensing signal analysis methods, and fabrication strategies. In this perspective, the strategies toward high-sensitivity colorimetric PC sensors are discussed, from the perspectives of molecular design, single sensor construction, and multisensor assembly, which include incorporation of flexible polymer chains, construction of strong sensor-analyte interactions, incorporation of more soft materials, construction of stimuli-angle/orientation relationship, design of colorimetric sensors in series, and assembly of colorimetric PC sensors in parallel. Based on these strategies, progress of high-sensitivity colorimetric PC sensors in recent years is summarized, in terms of mechano-sensors and chemo-/biosensors. Specifically, PC based optical-electrical dual-signal sensing devices are included. Finally, the future development and challenges of high-sensitivity colorimetric PC sensors are presented, in regards to deformable properties, optical properties, analysis methods, and fabrication strategies.

Biomimetic Janus photonic soft actuator with structural color self-reporting

Soft actuators with variable signal/color play an important role in the fields of targeted locomotion, artificial phototropism, drug screening, cargo transportation, and interactive sensing. The ability to achieve rapid response, large curvature, wide bending angle, and full-color display continues to be an unresolved challenge for artificial actuating materials. Inspired by the angle-dependent structural color of broad-tailed hummingbird and the Janus wettability of the lotus leaf, a Janus photonic soft actuator (JPSA) was fabricated by integrating an underwater super-oleophilic copper micro-nano array and oil-phobic inverse opal through a Laplace channel. The JPSA exhibits unidirectional permeability to underwater oil droplets. Attractively, with the combination of a swellable super-oleophilic surface and photonic crystals, JPSAs were endowed with oil-controlled reversible bending behavior with self-reporting angle-dependent color indication. We described for the first time the directional actuating mechanism induced by underwater oil unidirectional penetration and revealed the corresponding actuating kinetics and the inner-stress distribution/transfer by using structural color. As an extension of such theory, a rapid responsive JPSA with a wide bending angle and full-color self-reporting is further fabricated. This work provides an efficient strategy for oil directional transportation and separation in aqueous media and inspires the fabrication of a soft actuator/sensor with structural color self-reporting.

A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments

Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.

Colloidal Self-Assembly Approaches to Smart Nanostructured Materials

Colloidal self-assembly refers to a solution-processed assembly of nanometer-/micrometer-sized, well-dispersed particles into secondary structures, whose collective properties are controlled by not only nanoparticle property but also the superstructure symmetry, orientation, phase, and dimension. This combination of characteristics makes colloidal superstructures highly susceptible to remote stimuli or local environmental changes, representing a prominent platform for developing stimuli-responsive materials and smart devices. Chemists are achieving even more delicate control over their active responses to various practical stimuli, setting the stage ready for fully exploiting the potential of this unique set of materials. This review addresses the assembly of colloids into stimuli-responsive or smart nanostructured materials. We first delineate the colloidal self-assembly driven by forces of different length scales. A set of concepts and equations are outlined for controlling the colloidal crystal growth, appreciating the importance of particle connectivity in creating responsive superstructures. We then present working mechanisms and practical strategies for engineering smart colloidal assemblies. The concepts underpinning separation and connectivity control are systematically introduced, allowing active tuning and precise prediction of the colloidal crystal properties in response to external stimuli. Various exciting applications of these unique materials are summarized with a specific focus on the structure-property correlation in smart materials and functional devices. We conclude this review with a summary of existing challenges in colloidal self-assembly of smart materials and provide a perspective on their further advances to the next generation.

Biology and bioinspiration of soft robotics: Actuation, sensing, and system integration

Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities. The understanding of biological structures and functions guide the construction of soft robotics with unprecedented performances. However, despite the progress in soft robotics, there still remains a big gap between man-made soft robotics and natural lives in terms of autonomy, adaptability, self-repair, durability, energy efficiency, etc. Here, the actuation and sensing strategies in the natural biological world are summarized along with their man-made counterparts applied in soft robotics. The development trends of bioinspired soft robotics toward closed loop and embodiment are proposed. Challenges for obtaining autonomous soft robotics similar to natural organisms are outlined to provide a perspective in this field.

Bioinspired Multi-Stimuli Responsive Actuators with Synergistic Color- and Morphing-Change Abilities

The combination of complex perception, defense, and camouflage mechanisms is a pivotal instinctive ability that equips organisms with survival advantages. The simulations of such fascinating multi-stimuli responsiveness, including thigmotropism, bioluminescence, color-changing ability, and so on, are of great significance for scientists to develop novel biomimetic smart materials. However, most biomimetic color-changing or luminescence materials can only realize a single stimulus-response, hence the design and fabrication of multi-stimuli responsive materials with synergistic color-changing are still on the way. Here, a bioinspired multi-stimuli responsive actuator with color- and morphing-change abilities is developed by taking advantage of the assembled cellulose nanocrystals-based cholesteric liquid crystal structure and its water/temperature response behaviors. The actuator exhibits superfast, reversible bi-directional humidity and near-infrared (NIR) light actuating ability (humidity: 9 s; NIR light: 16 s), accompanying with synergistic iridescent appearance which provides a visual cue for the movement of actuators. This work paves the way for biomimetic multi-stimuli responsive materials and will have a wide range of applications such as optical anti-counterfeiting devices, information storage materials, and smart soft robots.

Fabrication of multicolor Janus microbeads based on photonic crystals and upconversion nanoparticles

In this study, a facile method to fabricate Janus microbeads based on photonic crystals and upconversion nanoparticles is designed. The Janus microbeads can be reversed under magnetic response and generate upconversion fluorescence under near-infrared light. Three kinds of core-shell upconversion nanoparticles (UCNPs) are prepared by the solvothermal method and are mixed with Fe₃O₄ nanoparticles and different sizes of colloidal spheres. The Janus microbeads are assembled according to the hydrophilic property of the mixture and the hydrophobic property of substrates. The upper parts of the Janus microbeads are photonic crystals assembled with colloidal spheres, and the other parts are Fe₃O₄. Meanwhile, UCNPs are distributed inside the Janus microbeads. Furthermore, the Janus microbeads are prepared into different lattice patterns using special templates. In the lattice patterns, the structural colors of Janus microbeads can be displayed and disappeared by magnetic field inversion, and under external NIR irradiation, Janus microbeads can generate upconversion fluorescence to achieve multiple color display. The Janus microbeads are also applied to both sides of the bank card, and various reading information methods are designed according to different response modes, which have important applications in pattern display, response materials, and anti-counterfeiting.

Editing the Shape Morphing of Monocomponent Natural Polysaccharide Hydrogel Films

Shape-morphing hydrogels can be widely used to develop artificial muscles, reconfigurable biodevices, and soft robotics. However, conventional approaches for developing shape-morphing hydrogels highly rely on composite materials or complex manufacturing techniques, which limit their practical applications. Herein, we develop an unprecedented strategy to edit the shape morphing of monocomponent natural polysaccharide hydrogel films via integrating gradient cross-linking density and geometry effect. Owing to the synergistic effect, the shape morphing of chitosan (CS) hydrogel films with gradient cross-linking density can be facilely edited by changing their geometries (length-to-width ratios or thicknesses). Therefore, helix, short-side rolling, and long-side rolling can be easily customized. Furthermore, various complex artificial 3D deformations such as artificial claw, horn, and flower can also be obtained by combining various flat CS hydrogel films with different geometries into one system, which can further demonstrate various shape transformations as triggered by pH. This work offers a simple strategy to construct a monocomponent hydrogel with geometry-directing programmable deformations, which provides universal insights into the design of shape-morphing polymers and will promote their applications in biodevices and soft robotics.