Towards high performance and durable soft tactile actuators

Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.

Second-Generation Soft Actuators Driven by NIR Light Based on Croconaine Dye-Doped Vitrimers

Soft actuators with photo-response can be selectively driven by the light source, but it is challenging to achieve a selective response of multiple components under a uniform light field, which is actually of great importance for the development of soft robots. In this work, a series of near-infrared light (NIR)-responsive vitrimers (CR-vitrimers) are synthesized by carboxylate transesterification using carboxyl-bearing croconaine dye (CR-800) as a photothermal agent (PTA). NIR-responsive liquid crystalline elastomers (CR-vitrimer-LCEs) under NIR laser (λmax = 808 nm) without the template can be further prepared. More importantly, the dynamic covalent bonding properties of vitrimer allow for the fabrication of a hand-shaped actuator by hot pressing, consisting of "fingers" with different NIR-response threshold values. After programming as needed, the hand-shaped actuator successfully achieves local and sequential control under a uniform NIR light field.

Phase separation in supramolecular and covalent adaptable networks

Phase separation phenomena have been studied widely in the field of polymer science, and were recently also reported for dynamic polymer networks (DPNs). The mechanisms of phase separation in dynamic polymer networks are of particular interest as the reversible nature of the network can participate in the structuring of the micro- and macroscale domains. In this review, we highlight the underlying mechanisms of phase separation in dynamic polymer networks, distinguishing between supramolecular polymer networks and covalent adaptable networks (CANs). Also, we address the synergistic effects between phase separation and reversible bond exchange. We furthermore discuss the effects of phase separation on the material properties, and how this knowledge can be used to enhance and tune material properties.

Magnetic-responsive Covalent Adaptable Networks

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

Slidable Cross-Linking Effect on Liquid Crystal Elastomers: Enhancement of Toughness, Shape-Memory, and Self-Healing Properties

The network structures of liquid crystal elastomers (LCEs) are crucial to impart rubbery behavior to LCEs and enable reversible actuation. Most LCEs developed to date are covalently linked, implying that the cross-links are fixed at a particular position. Herein, we report a new class of LCEs integrating polyrotaxanes (PRs) as slidable cross-links (PR-LCEs). Interestingly, the incorporation of a low loading (0.3-2.0 wt %) of the PR cross-linkers to the LCE causes a significant impact on various properties of the resulting PR-LCEs due to the pulley effect. The optimum PR loading is determined to be 0.5 wt %, at which point the toughness and damping behavior are maximized. The robust mechanical properties of the PR-LCE offers a superior actuation performance to that of the pristine LCE along with an excellent quadruple shape-memory effect. Furthermore, the incorporation of PR is useful to enhance the efficiency of shape-memory-assisted self-healing when heating above the nematic-isotropic transition.

Integrating Boronic Esters and Anthracene into Covalent Adaptable Networks toward Stimuli-Responsive Elastomers

Stimuli-responsive polymer materials have a promising potential application in many areas. However, integrating multi-stimuli into one elastomer is still a challenge. Here, we utilized boronic esters and anthracene to prepare a cross-linked poly(styrene-butadiene-styrene) (SBS) which was endowed with responsiveness to three stimuli (light, heat, and alcohols). SBS was first functionalized with a certain amount of dihydroxyl groups via a thiol-ene “click” reaction between unsaturated double bonds in PB block and thioglycerol. Then, 9-anthraceneboronic acid was applied to form a cross-linked SBS network upon heat and ultraviolet radiation (λ = 365 nm). The prepared elastomer was demonstrated to be stimuli-responsive based on the dynamic nature of boronic esters and the reversible dimerization of anthracene. In addition, the mechanical properties of the elastomer could be regulated continuously owing to the stimulus responsiveness to ultraviolet or heat.

Effects of photo-isomerizable side groups on the phase and mechanical properties of main-chain nematic elastomers

A series of main-chain nematic liquid crystal elastomers containing various photo-isomerizable side groups branching from the main chain were synthesized. The effects of the side groups on the thermal phase and mechanical properties were explored.

Aminoesterenamide Achieved by Three-Component Reaction Heading toward Tailoring Covalent Adaptable Network with Great Freedom

Covalent adaptable networks (CANs) have recently received extensive interests due to their reprocessability and repairability. Rethinking the libraries of the published CANs, most of them are fabricated by one/two-component reactions and few cases utilize multi-component reactions to construct CANs while multi-component reactions are conductive to tailoring the properties of polymers due to their structural designability and flexible choice of raw materials. A novel kind of dynamic covalent bond named aminoesterenamide is presented through three-component reaction between acetoacetyl, amine and isocyanate. Aminoesterenamide exhibits thermal reversibility through dissociating into vinylogous urethane and isocyanate. When it is used to prepare CANs, the synthesized polymer networks can be reprocessed many times via the exchange reaction between aminoesterenamides. Moreover, the forming of aminoesterenamide involving three starting components imparts CANs with great freedom to tailor their properties. Therefore, the authors believe this method that utilizes three-component reaction to fabricate CANs would bring new stories and perspectives to the exploration of new types of CANs.

Healable and Rearrangeable Networks of Liquid Crystal Elastomers Enabled by Diselenide Bonds

Based on liquid crystal elastomer (LCE) materials, hierarchically structured soft actuators can meet some requirements for "human-friendly" working mode and execute complex tasks with intelligent adaptation to environmental changes. However, few researchers have paid much attention to the preparation methods of multicomponent/hierarchical LCE actuators. In this communication, we demonstrate the successful integration of an exchangeable diselenide chain extender for the preparation of dynamic LCEs, which could be reprogrammed on heating or under visible light illumination. Moreover, the rearrangeable polydiselenide networks could be applied to develop the self-welding technology toward fabricating hierarchically structured LCE actuators with sophisticated deformability without using any auxiliary reagent (adhesive, tape, catalysts or initiator) during the assembling process.

Dynamic Polymer Networks: A New Avenue towards Sustainable and Advanced Soft Machines

While the fascinating field of soft machines has grown rapidly over the last two decades, the materials they are constructed from have remained largely unchanged during this time. Parallel activities have led to significant advances in the field of dynamic polymer networks, leading to the design of three-dimensionally cross-linked polymeric materials that are able to adapt and transform through stimuli-induced bond exchange. Recent work has begun to merge these two fields of research by incorporating the stimuli-responsive properties of dynamic polymer networks into soft machine components. These include dielectric elastomers, stretchable electrodes, nanogenerators, and energy storage devices. In this Minireview, we outline recent progress made in this emerging research area and discuss future directions for the field.

Dually cross-linked single networks: structures and applications

Cross-linked polymers have attracted an immense attention over the years, however, there are many flaws of these systems, e.g. softness and brittleness; such materials possess non-adjustable properties and cannot recover from damage and thus are limited in their practical applications. Supramolecular chemistry offers a variety of dynamic interactions that when integrated into polymeric gels endow the systems with reversibility and responsiveness to external stimuli. A combination of different cross-links in a single gel could be the key to tackle these drawbacks, since covalent or chemical cross-linking serve to maintain the permanent shape of the material and to improve overall mechanical performance, whereas non-covalent cross-links impart dynamicity, reversibility, stimuli-responsiveness and often toughness to the material. In the present review we sought to give a comprehensive overview of the progress in design strategies of different types of dually cross-linked single gels made by researchers over the past decade as well as the successful implementations of these advances in many demanding fields where versatile multifunctional materials are required, such as tissue engineering, drug delivery, self-healing and adhesive systems, sensors as well as shape memory materials and actuators.

Dually Crosslinked Polymer Networks Incorporating Dynamic Covalent Bonds

Covalent adaptable networks (CANs) are polymeric networks containing covalent crosslinks that are dynamic under specific conditions. In addition to possessing the malleability of thermoplastics and the dimensional stability of thermosets, CANs exhibit a unique combination of physical properties, including adaptability, self-healing, shape-memory, stimuli-responsiveness, and enhanced recyclability. The physical properties and the service conditions (such as temperature, pH, and humidity) of CANs are defined by the nature of their constituent dynamic covalent bonds (DCBs). In response to the increasing demand for more sophisticated and adaptable materials, the scientific community has identified dual dynamic networks (DDNs) as a promising new class of polymeric materials. By combining two (or more) distinct crosslinkers in one system, a material with tailored thermal, rheological, and mechanical properties can be designed. One remarkable ability of DDNs is their capacity to combine dimensional stability, bond dynamicity, and multi-responsiveness. This review aims to give an overview of the advances in the emerging field of DDNs with a special emphasis on their design, structure-property relationships, and applications. This review illustrates how DDNs offer many prospects that single (dynamic) networks cannot provide and highlights the challenges associated with their synthesis and characterization.

Cross-linked polyurethane with dynamic phenol-carbamate bonds: properties affected by the chemical structure of isocyanate

Based on the phenol–carbamate dynamic bond, we designed a strategy to regulate the rearrangement kinetics of the dynamic covalent network in polyurethanes by adjusting the chemical structure of aliphatic isocyanates.

Thermoreversible cross-linking of ethylene/propylene copolymers based on Diels–Alder chemistry: the cross-linking reaction kinetics

The kinetics of the cross-linking reaction of ethylene/propylene rubbers based on Diels–Alder chemistry was detected by the rheological method.