Three-dimensional thermochromic liquid crystal elastomer structures with reversible shape-morphing and color-changing capabilities for soft robotics

Thermal Gradient-Driven Heterogeneous Actuation of Liquid Crystal Elastomers for a Crawling Robot

Emerging soft robots based on liquid crystal elastomers (LCEs) exhibit remarkable capabilities for large reversible shape morphing, enabling them to adapt to complex environments and perform diverse tasks such as locomotion and camouflage. Despite extensive studies, current methods for locally controlled actuation of LCE-based soft robots often involve intricate structural design, complex programming of LCEs, incorporation of multiple materials, or complex actuation methods. Here, we present a simple and efficient approach to achieve multiple deformation modes within a simply programmed LCE structure by harnessing Joule heating-induced thermal gradients across the LCE volume. Oxidized liquid metal (LM) thin films, which exhibit increased resistance, enhanced viscosity, high thermal conductivity, and large deformability, are employed for Joule heating in this study. Using an LCE strip programmed via uniaxial stretching as an example, we perform systematic studies on the effect of essential parameters, including the actuation voltage, LCE dimensions, and the LM-to-LCE thickness ratio, on the deformation behaviors of LCEs induced by three-dimensional thermal gradients across the LCE volume. In addition, concurrently actuating two adjacent surfaces of the LCE strip yields previously inaccessible coupled bending behaviors. Finally, we demonstrate a crawling robot constructed from LM-coated LCE strips with adjustable bending capabilities, which enable multimode locomotion, including forward movement and turns, enhancing biomimetic functionality akin to leg movements observed in living organisms like reptiles. The reported strategy, which is both straightforward and versatile, promises scalability and holds potential for various applications in multifunctional intelligent systems including soft robotics and biomedical devices.

Coaxial Direct Ink Writing of Cholesteric Liquid Crystal Elastomers in 3D Architectures

Cholesteric liquid crystal elastomers (CLCEs) hold great promise for mechanochromic applications in anti-counterfeiting, smart textiles, and soft robotics, thanks to the structural color and elasticity. While CLCEs are printed via direct ink writing (DIW) to fabricate free-standing films, complex 3D structures are not fabricated due to the opposing rheological properties necessary for cholesteric alignment and multilayer stacking. Here, 3D CLCE structures are realized by utilizing coaxial DIW to print a CLC ink within a silicone ink. By tailoring the ink compositions, and thus, the rheological properties, the cholesteric phase rapidly forms without an annealing step, while the silicone shell provides encapsulation and support to the CLCE core, allowing for layer-by-layer printing of self-supported 3D structures. As a demonstration, free-standing bistable thin-shell domes are printed. Color changes due to compressive and tensile stresses can be witnessed from the top and bottom of the inverted domes, respectively. When the domes are arranged in an array and inverted, they can snap back to their base state by uniaxial stretching, thereby functioning as mechanical sensors with memory. The additive manufacturing platform enables the rapid fabrication of 3D mechanochromic sensors thereby expanding the realm of potential applications for CLCEs.

Artificial Cephalopod Skins with Switchable Appearance Color

Cephalopods such as squids, octopuses, and cuttlefishes can change their bodies' color to match the surrounding environments by contracting or expanding the sac just below the surface of the skin. Inspired by this mechanism, artificial cephalopod chromatophores which are prepared by thermoresponsive poly(N-isopropyl acrylamide)-based hydrogel films embedded with black, red, and yellow pigments are presented, they can swell and shrink under temperature stimuli, like the natural chromatophores. The artificial chromatophores embedded with cuttlefish ink are further used to fabricate artificial J.heathi octopus skin by sandwiched between a transparent outer layer and a transparency-switchable substrate, thus camouflage skin can be achieved by controlling temperature or NIR irradiation. The artificial chromatophores with red and yellow pigments are further incorporated with the colloidal photonic crystals patches which are embedded in a white substrate, and the iridescence patches keep disappearing-reappearing with the expanding-contracting behavior of the pigment-containing chromatophores, like the skin of squids. These bioinspired artificial skins with the excellent capability of dynamic camouflage have potential applications for color displaying, camouflage, and smart wearable devices.

Ultra-high Performance Thermochromic Polymers via a Solid-solid Phase Transition Mechanism and Their Applications

Thermochromic materials are substances that change color in response to temperature variations. Today, sustainability concerns are the main drivers of thermochromic research, with smart, energy-efficient windows being one of the primary applications. While vanadium oxides and leuco dyes are traditionally the main thermochromic materials, hydrogels operating based on change of solvation have risen as some of the most promising materials due to their high optical transparency and good solar modulating abilities. In this work, a distinct mechanism for thermochromism arising from the crystalline solid to amorphous solid polymer transition, with a corresponding transition from an opaque state to a transparent state is disclosed. Both ultra-high optical transparency (Tlum up to 99%) and ultra-high solar modulation (ΔTsolar up to 87%) are observed. The transition temperature is tunable from 11 to 61 °C by tuning the polymer structure. When incorporated into applications such as greenhouse materials and thermoelectric devices, significant performance enhancement is observed, due to the thermochromic material functioning as a thermal valve, speeding up solar heat absorbance while inhibiting the cooling process via its phase transition.

4D Printing of Reprogrammable Liquid Crystal Elastomers with Synergistic Photochromism and Photoactuation

4D printing of liquid crystal elastomers (LCEs) via direct ink writing has opened up great opportunities to create stimuli-responsive actuations for applications such as soft robotics. However, most 4D-printed LCEs are limited to thermal actuation and fixed shape morphing, posing a challenge for achieving multiple programmable functionalities and reprogrammability. Here, a 4D-printable photochromic titanium-based nanocrystal (TiNC)/LCE composite ink is developed, which enables the reprogrammable photochromism and photoactuation of a single 4D-printed architecture. The printed TiNC/LCE composite exhibits reversible color-switching between white and black in response to ultraviolet (UV) irradiation and oxygen exposure. Upon near-infrared (NIR) irradiation, the UV-irradiated region can undergo photothermal actuation, allowing for robust grasping and weightlifting. By precisely controlling the structural design and the light irradiation, the single 4D-printed TiNC/LCE object can be globally or locally programmed, erased, and reprogrammed to achieve desirable photocontrollable color patterns and 3D structure constructions, such as barcode patterns and origami- and kirigami-inspired structures. This work provides a novel concept for designing and engineering adaptive structures with unique and tunable multifunctionalities, which have potential applications in biomimetic soft robotics, smart construction engineering, camouflage, multilevel information storage, etc.

Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Active Materials for Functional Origami

In recent decades, origami has been explored to aid in the design of engineering structures. These structures span multiple scales and have been demonstrated to be used toward various areas such as aerospace, metamaterial, biomedical, robotics, and architectural applications. Conventionally, origami or deployable structures have been actuated by hands, motors, or pneumatic actuators, which can result in heavy or bulky structures. On the other hand, active materials, which reconfigure in response to external stimulus, eliminate the need for external mechanical loads and bulky actuation systems. Thus, in recent years, active materials incorporated with deployable structures have shown promise for remote actuation of light weight, programmable origami. In this review, active materials such as shape memory polymers (SMPs) and alloys (SMAs), hydrogels, liquid crystal elastomers (LCEs), magnetic soft materials (MSMs), and covalent adaptable network (CAN) polymers, their actuation mechanisms, as well as how they have been utilized for active origami and where these structures are applicable is discussed. Additionally, the state-of-the-art fabrication methods to construct active origami are highlighted. The existing structural modeling strategies for origami, the constitutive models used to describe active materials, and the largest challenges and future directions for active origami research are summarized.

Bioinspired Multistimuli-Induced Synergistic Changes in Color and Shape of Hydrogel and Actuator Based on Fluorescent Microgels

Fluorescent hydrogels have emerged as one of the most promising candidates for developing biomimetic materials and artificial intelligence owing to their unique fluorescence and responsive properties. However, it is still challenging to fabricate hydrogel that exhibits synergistic changes in fluorescence color and shape in response to multistimulus via a simple method. Herein, blue- and orange-emitting fluorescent microgels (MGs) both are designed and synthesized with pH-, thermal-, and cationic-sensitivity via one-step polymerization, respectively. The two fluorescent MGs are incorporated into transparent doubly crosslinked microgel (DX MG) hydrogels with a preset ratio. The DX MG hydrogels can tune the fluorescent color accompanied by size variation via subjecting to external multistimulus. Thus, DX MG hydrogels can be exploited for multiresponsive fluorescent bilayer actuators. The actuators can undergo complex shape deformation and color changes. Inspired by natural organisms, an artificial morning glory with color and size changes are showcased in response to buffer solutions of different pH values. Besides, an intelligent skin hydrogel, imitating natural calotes versicolor, by assembling four layers of DX MG with different ratios of MGs, is tailored. This work serves as an inspiration for the design and fabrication of novel biomimetic smart materials with synergistic functions.

Mechanochemically assisted morphing of shape shifting polymers

Morphing in creatures has inspired various synthetic polymer materials that are capable of shape shifting. The morphing of polymers generally relies on stimuli-active (typically heat and light active) units that fix the shape after a mechanical load-based shape programming. Herein, we report a strategy that uses a mechanochemically active 2,2'-bis(2-phenylindan-1,3-dione) (BPID) mechanophore as a switching unit for mechanochemical morphing. The mechanical load on the polymer triggers the dissociation of the BPID moiety into stable 2-phenylindan-1,3-dione (PID) radicals, whose subsequent spontaneous dimerization regenerates BPID and fixes the temporary shapes that can be effectively recovered to the permanent shapes by heating. A greater extent of BPID activation, through a higher BPID content or mechanical load, leads to higher mechanochemical shape fixity. By contrast, a relatively mechanochemically less active hexaarylbiimidazole (HABI) mechanophore shows a lower fixing efficiency when subjected to the same programing conditions. Another control system without a mechanophore shows a low fixing efficiency comparable to the HABI system. Additionally, the introduction of the BPID moiety also manifests remarkable mechanochromic behavior during the shape programing process, offering a visualizable indicator for the pre-evaluation of morphing efficiency. Unlike conventional mechanical mechanisms that simultaneously induce morphing, such as strain-induced plastic deformation or crystallization, our mechanochemical method allows for shape programming after the mechanical treatment. Our concept has potential for the design of mechanochemically programmable and mechanoresponsive shape shifting polymers.

Four-Dimensional Printing of Temperature-Responsive Liquid Crystal Elastomers with Programmable Shape-Changing Behavior

Liquid crystal elastomers (LCEs) are polymer networks that exhibit anisotropic liquid crystalline properties while maintaining the properties of elastomers, presenting reversible high-speed and large-scale actuation in response to external stimuli. Herein, we formulated a non-toxic, low-temperature liquid crystal (LC) ink for temperature-controlled direct ink writing 3D printing. The rheological properties of the LC ink were verified under different temperatures given the phase transition temperature of 63 °C measured by the DSC test. Afterwards, the effects of printing speed, printing temperature, and actuation temperature on the actuation strain of printed LCEs structures were investigated within adjustable ranges. In addition, it was demonstrated that the printing direction can modulate the LCEs to exhibit different actuation behaviors. Finally, by sequentially conforming structures and programming the printing parameters, it showed the deformation behavior of a variety of complex structures. By integrating with 4D printing and digital device architectures, this unique reversible deformation property will help LCEs presented here apply to mechanical actuators, smart surfaces, micro-robots, etc.

Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation

Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.