Actuation systems in plants as prototypes for bioinspired devices

A Bio-Inspired Perspective on Materials Sustainability

The article explores materials sustainability through a bio-inspired lens and discusses paradigms that can reshape the understanding of material synthesis, processing, and usage. It addresses various technological fields, from structural engineering to healthcare, and emphasizes natural material cycles as a blueprint for efficient recycling and reuse. The study shows that material functionality depends on both chemical composition and structural modifications, which emphasizes the role of material processing. The article identifies strategies such as mono-materiality and multifunctionality, and explores how responsivity, adaptivity, modularity, and cellularity can simplify material assembly and disassembly. Bioinspired strategies for reusing materials, defect tolerance, maintenance, remodeling, and healing may extend product lifespans. The principles of circularity, longevity, and parsimony are reconsidered in the context of "active materiality", a dynamic bio-inspired paradigm. This concept expands the traditional focus of material science from structure-function relationships to include the development of materials capable of responding or adapting to external stimuli. Concrete examples demonstrate how bio-inspired strategies are being applied in engineering and technology to enhance the sustainability of materials. The article concludes by emphasizing interdisciplinary collaboration as a key factor for developing a sustainable and resilient materials economy in harmony with nature's material cycles.

Weather-responsive adaptive shading through biobased and bioinspired hygromorphic 4D-printing

In response to the global challenge of reducing carbon emissions and energy consumption from regulating indoor climates, we investigate the applicability of biobased cellulosic materials and bioinspired 4D-printing for weather-responsive adaptive shading in building facades. Cellulose is an abundantly available natural material resource that exhibits hygromorphic actuation potential when used in 4D-printing to emulate motile plant structures in bioinspired bilayers. Three key aspects are addressed: (i) examining the motion response of 4D-printed hygromorphic bilayers to both temperature and relative humidity, (ii) verifying the responsiveness of self-shaping shading elements in lab-generated conditions as well as under daily and seasonal weather conditions for over a year, and (iii) deploying the adaptive shading system for testing in a real building facade by upscaling the 4D-printing manufacturing process. This study demonstrates that hygromorphic bilayers can be utilized for weather-responsive facades and that the presented system is architecturally scalable in quantity. Bioinspired 4D-printing and biobased cellulosic materials offer a resource-efficient and energy-autonomous solution for adaptive shading, with potential contributions towards indoor climate regulation and climate change mitigation.

Driving macro-scale transformations in three-dimensional-printed biopolymers through controlled induction of molecular anisotropy at the nanoscale

Motivated by the need to harness the properties of renewable and biodegradable polymers for the design and manufacturing of multi-scale structures with complex geometries, we have employed our additive manufacturing platform that leverages molecular self-assembly for the production of metre-scale structures characterized by complex geometries and heterogeneous material composition. As a precursor material, we used chitosan, a chemically modified form of chitin, an abundant and sustainable structural polysaccharide. We demonstrate the ability to control concentration-dependent crystallization as well as the induction of the preferred orientation of the polymer chains through the combination of extrusion-based robotic fabrication and directional toolpathing. Anisotropy is demonstrated and assessed through high-resolution micro-X-ray diffraction in conjunction with finite element simulations. Using this approach, we can leverage controlled and user-defined small-scale propagation of residual stresses to induce large-scale folding of the resulting structures.

Integrated mechanical computing for autonomous soft machines

Mechanical computing offers a new modality to formulate computational autonomy in intelligent matter or machines without any external powering or active elements. Transition (or solitary) waves, induced by nonreciprocity in mechanical metamaterials comprising a chain of bistable elements, have proven to be a key ingredient for dissipation-free transmission and computation of mechanical information. However, advanced processing of mechanical information in existing designs is hindered by its dissipation when interacting with networked logic gates. Here, we present a metamaterial design strategy that allows non-dispersive mechanical solitary waves to compute multi-level cascaded logic functions, termed 'integrated mechanical computing', by propagating through a network of structurally heterogeneous computing units. From a perspective of characteristic potential energy, we establish an analytical framework that helps in understanding the solitary wave-based mechanical computation, and governs the mechanical design of key determinants for realizing cascaded logic computation, such as soliton profile and logic elements. The developed integrated mechanical computing systems are shown to receive, transmit and compute mechanical information to actuate intelligent soft machine prototypes in a seamless and integrated manner. These findings would pave the way for future intelligent robots and machines that perform computational operations between various non-electrical environmental inputs.

From Nature-Sourced Polysaccharide Particles to Advanced Functional Materials

Polysaccharides constitute over 90% of the carbohydrate mass in nature, which makes them a promising feedstock for manufacturing sustainable materials. Polysaccharide particles (PSPs) are used as effective scavengers, carriers of chemical and biological cargos, and building blocks for the fabrication of macroscopic materials. The biocompatibility and degradability of PSPs are advantageous for their uses as biomaterials with more environmental friendliness. This review highlights the progresses in PSP applications as advanced functional materials, by describing PSP extraction, preparation, and surface functionalization with a variety of functional groups, polymers, nanoparticles, and biologically active species. This review also outlines the fabrication of PSP-derived macroscopic materials, as well as their applications in soft robotics, sensing, scavenging, water harvesting, drug delivery, and bioengineering. The paper is concluded with an outlook providing perspectives in the development and applications of PSP-derived materials.

Photografting of Surface-assembled Hydrogel Prepolymers to Elastomeric Substrates for Production of Stimuli-Responsive Microlens Arrays

Hydrogels have emerged as prototypical stimuli-responsive materials with potential applications in soft robotics, microfluidics, tissue engineering, and adaptive optics. To leverage the full potential of these materials, fabrication techniques capable of simultaneous control of microstructure, device architecture, and interfacial stability, i.e., adhesion of hydrogel components to support substrates, are needed. A universal strategy for the microfabrication of hydrogel-based devices with robust substrate adhesion amenable to use in liquid environments would enable numerous applications. This manuscript reports a general approach for the facile production of covalently attached, ordered arrays of microscale hydrogels (microgels) on silicone supports. Specifically, silicone-based templates were used to: i) drive mechanical assembly of prepolymer droplets into well-defined geometries and morphologies, and ii) present appropriate conjugation moieties to fix gels in place during photoinitiated crosslinking via a "graft from" polymerization scheme. Automated processing enabled rapid microgel array production for characterization, testing, and application. Furthermore, the stimuli-responsive microlensing properties of these arrays, via contractile modulated refractive index, were demonstrated. This process is directly applicable to the fabrication of adaptive optofluidic systems and can be further applied to advanced functional systems such as soft actuators and robotics and 3D cell culture technologies.

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.

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.

Hydration solids

Hygroscopic biological matter in plants, fungi and bacteria make up a large fraction of Earth's biomass1. Although metabolically inert, these water-responsive materials exchange water with the environment and actuate movement2-5 and have inspired technological uses6,7. Despite the variety in chemical composition, hygroscopic biological materials across multiple kingdoms of life exhibit similar mechanical behaviours including changes in size and stiffness with relative humidity8-13. Here we report atomic force microscopy measurements on the hygroscopic spores14,15 of a common soil bacterium and develop a theory that captures the observed equilibrium, non-equilibrium and water-responsive mechanical behaviours, finding that these are controlled by the hydration force16-18. Our theory based on the hydration force explains an extreme slowdown of water transport and successfully predicts a strong nonlinear elasticity and a transition in mechanical properties that differs from glassy and poroelastic behaviours. These results indicate that water not only endows biological matter with fluidity but also can-through the hydration force-control macroscopic properties and give rise to a 'hydration solid' with unusual properties. A large fraction of biological matter could belong to this distinct class of solid matter.

Bioinspired Additive Manufacturing of Hierarchical Materials: From Biostructures to Functions

Throughout billions of years, biological systems have evolved sophisticated, multiscale hierarchical structures to adapt to changing environments. Biomaterials are synthesized under mild conditions through a bottom-up self-assembly process, utilizing substances from the surrounding environment, and meanwhile are regulated by genes and proteins. Additive manufacturing, which mimics this natural process, provides a promising approach to developing new materials with advantageous properties similar to natural biological materials. This review presents an overview of natural biomaterials, emphasizing their chemical and structural compositions at various scales, from the nanoscale to the macroscale, and the key mechanisms underlying their properties. Additionally, this review describes the designs, preparations, and applications of bioinspired multifunctional materials produced through additive manufacturing at different scales, including nano, micro, micro-macro, and macro levels. The review highlights the potential of bioinspired additive manufacturing to develop new functional materials and insights into future directions and prospects in this field. By summarizing the characteristics of natural biomaterials and their synthetic counterparts, this review inspires the development of new materials that can be utilized in various applications.

Cross-Sectional 4D-Printing: Upscaling Self-Shaping Structures with Differentiated Material Properties Inspired by the Large-Flowered Butterwort (Pinguicula grandiflora)

Extrusion-based 4D-printing, which is an emerging field within additive manufacturing, has enabled the technical transfer of bioinspired self-shaping mechanisms by emulating the functional morphology of motile plant structures (e.g., leaves, petals, capsules). However, restricted by the layer-by-layer extrusion process, much of the resulting works are simplified abstractions of the pinecone scale's bilayer structure. This paper presents a new method of 4D-printing by rotating the printed axis of the bilayers, which enables the design and fabrication of self-shaping monomaterial systems in cross sections. This research introduces a computational workflow for programming, simulating, and 4D-printing differentiated cross sections with multilayered mechanical properties. Taking inspiration from the large-flowered butterwort (Pinguicula grandiflora), which shows the formation of depressions on its trap leaves upon contact with prey, we investigate the depression formation of bioinspired 4D-printed test structures by varying each depth layer. Cross-sectional 4D-printing expands the design space of bioinspired bilayer mechanisms beyond the XY plane, allows more control in tuning their self-shaping properties, and paves the way toward large-scale 4D-printed structures with high-resolution programmability.

Soft Functionally Gradient Materials and Structures - Natural and Manmade: A Review

Functionally gradient materials (FGM) have gradual variations in their properties along one or more dimensions due to local compositional or structural distinctions by design. Traditionally, hard materials (e.g., metals, ceramics) are used to design and fabricate FGMs; however, there is increasing interest in polymer-based soft and compliant FGMs mainly because of their potential application in the human environment. Soft FGMs are ideally suitable to manage interfacial problems in dissimilar materials used in many emerging devices and systems for human interaction, such as soft robotics and electronic textiles and beyond. Soft systems are ubiquitous in everyday lives; they are resilient and can easily deform, absorb energy, and adapt to changing environments. Here, the basic design and functional principles of biological FGMs and their manmade counterparts are discussed using representative examples. The remarkable multifunctional properties of natural FGMs resulting from their sophisticated hierarchical structures, built from a relatively limited choice of materials, offer a rich source of new design paradigms and manufacturing strategies for manmade materials and systems for emerging technological needs. Finally, the challenges and potential pathways are highlighted to leverage soft materials' facile processability and unique properties toward functional FGMs.

Pressure-induced shape-shifting of helical bacteria

Many bacterial species are helical in shape, including the widespread pathogen H. pylori. Motivated by recent experiments on H. pylori showing that cell wall synthesis is not uniform [J. A. Taylor, et al., eLife, 2020, 9, e52482], we investigate the possible formation of helical cell shape induced by elastic heterogeneity. We show, experimentally and theoretically, that helical morphogenesis can be produced by pressurizing an elastic cylindrical vessel with helical reinforced lines. The properties of the pressurized helix are highly dependent on the initial helical angle of the reinforced region. We find that steep angles result in crooked helices with, surprisingly, a reduced end-to-end distance upon pressurization. This work helps explain the possible mechanisms for the generation of helical cell morphologies and may inspire the design of novel pressure-controlled helical actuators.

Self-Healing Polymeric Soft Actuators

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

Rotational multimaterial printing of filaments with subvoxel control

Helical structures are ubiquitous in nature and impart unique mechanical properties and multifunctionality¹. So far, synthetic architectures that mimic these natural systems have been fabricated by winding, twisting and braiding of individual filaments^1-7, microfluidics^8,9, self-shaping^1,10-13 and printing methods^14-17. However, those fabrication methods are unable to simultaneously create and pattern multimaterial, helically architected filaments with subvoxel control in arbitrary two-dimensional (2D) and three-dimensional (3D) motifs from a broad range of materials. Towards this goal, both multimaterial^18-23 and rotational²⁴ 3D printing of architected filaments have recently been reported; however, the integration of these two capabilities has yet to be realized. Here we report a rotational multimaterial 3D printing (RM-3DP) platform that enables subvoxel control over the local orientation of azimuthally heterogeneous architected filaments. By continuously rotating a multimaterial nozzle with a controlled ratio of angular-to-translational velocity, we have created helical filaments with programmable helix angle, layer thickness and interfacial area between several materials within a given cylindrical voxel. Using this integrated method, we have fabricated functional artificial muscles composed of helical dielectric elastomer actuators with high fidelity and individually addressable conductive helical channels embedded within a dielectric elastomer matrix. We have also fabricated hierarchical lattices comprising architected helical struts containing stiff springs within a compliant matrix. Our additive-manufacturing platform opens new avenues to generating multifunctional architected matter in bioinspired motifs.

Magnetic field-driven particle assembly and jamming for bistable memory and response plasticity

Unlike classic synthetic stimulus-responsive and shape-memory materials, which remain limited to fixed responses, the responses of living systems dynamically adapt based on the repetition, intensity, and history of stimuli. Such plasticity is ubiquitous in biology, which is profoundly linked to memory and learning. Concepts thereof are searched for rudimentary forms of "intelligent materials." Here, we show plasticity of electroconductivity in soft ferromagnetic nickel colloidal supraparticles with spiny surfaces, assembling/disassembling to granular conducting micropillars between two electrodes driven by magnetic field B. Colloidal jamming leads to conduction hysteresis and bistable memory upon increasing and subsequently decreasing B. Abrupt B changes induce larger conduction changes than gradual B-changes. Periodic B pulsing drives to frequency-dependent facilitation or suppression of conductivity compared to exposing the same constant field. The concepts allow remotely controlled switching plasticity, illustrated by a rudimentary device. More generally, we foresee adaptive functional materials inspired by response plasticity and learning.

Leaf water potential-dependent leaflet closure contributes to legume leaves cool down and drought avoidance under diurnal drought stress

Efficient thermoregulation under diurnal drought stress protects leaves from photosystem damage and water supply-demand imbalance, yet the cool effect and drought avoidance by leaflet closure have not been well understood. We investigated the cool effect and the drought avoidance of leaflet closure in legume species that survived in the semi-arid region facing seasonal and diurnal drought stress. The results showed that leaflet closure effectively cooled down legume leaves through a reduction of projected leaflet area and the cosine of the angle of incidence (cos i). The leaflet closure was strongly dependent on leaf water potential (Ψleaf). In addition, by characterizing the sequence of key leaf drought response traits, we found leaflet closure occurred after stomatal closure and reduced transpiration rate but before hydraulic failure and turgor loss point (Ψtlp). The meta-analysis also showed that the leaflet closure and cos i decreased after the stomatal conductance declined but before midday. These results imply that Ψleaf-dependent leaflet closure as an alternative to transpiration for leaflet cooling down and as a protective drought avoidance strategy assisting sessile legume plants survival under drought stress.

Robust folding of elastic origami

Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns that can achieve a variety of target shapes, recent work has also made clear that many origami structures exhibit multiple folding pathways, with a proliferation of geometric folding pathways as the origami structure becomes complex. The competition between these pathways can lead to structures that are programmed for one shape, yet fold incorrectly. To disentangle the features that lead to misfolding, we introduce a model of self-folding origami that accounts for the finite stretching rigidity of the origami faces and allows the computation of energy landscapes that lead to misfolding. We find that, in addition to the geometrical features of the origami, the finite elasticity of the nearly-flat origami configurations regulates the proliferation of potential misfolded states through a series of saddle-node bifurcations. We apply our model to one of the most common origami motifs, the symmetric "bird's foot," a single vertex with four folds. We show that though even a small error in programmed fold angles induces metastability in rigid origami, elasticity allows one to tune resilience to misfolding. In a more complex design, the "Randlett flapping bird," which has thousands of potential competing states, we further show that the number of actual observed minima is strongly determined by the structure's elasticity. In general, we show that elastic origami with both stiffer folds and less bendable faces self-folds better.

Programmable Morphing Hydrogels for Soft Actuators and Robots: From Structure Designs to Active Functions

ConspectusNature provides abundant inspiration and elegant paradigms for the development of smart materials that can actuate, morph, and move on demand. One remarkable capacity of living organisms is to adapt their shapes or positions in response to stimuli. Programmed deformations or movements in plant organs are mainly driven by water absorption/dehydration of cells, while versatile motions of mollusks are based on contraction/extension of muscles. Understanding the general principles of these morphing and motion behaviors can give rise to disruptive technologies for soft robotics, flexible electronics, biomedical devices, etc. As one kind of intelligent material, hydrogels with high similarity to soft biotissues and diverse responses to external stimuli are an ideal candidate to construct soft actuators and robots.The objective of this Account is to give an overview of the fundamental principles for controllable deformations and motions of hydrogels, with a focus on the structure designs and responsive functions of the corresponding soft actuators and robots. This field has been rapidly developed in recent years with a growing understanding of working principles in natural organisms and a substantial revolution of manufacturing technologies to devise bioinspired hydrogel systems with desired structures. Diverse morphing hydrogels and soft actuators/robots have been developed on the basis of several pioneering works, ranging from bending and folding deformations of bilayer hydrogels to self-shaping of non-Euclidean hydrogel surfaces, and from thermoactuated bilayer gel "hands" to electrodriven polyelectrolyte gel "worms". These morphing hydrogels have demonstrated active functions and versatile applications in biomedical and engineering fields.In this Account, we discuss recent progress in morphing hydrogels and highlight the design principles and relevant applications. First, we introduce the fundamentals of basic deformation modes, together with generic structure features, actuation strategies, and morphing mechanisms. The advantages of in-plane gradient structures are highlighted for programmable deformations by harnessing the out-of-plane buckling with bistability nature to obtain sophisticated three-dimensional configurations. Next, we give an overview of soft actuators and robots based on morphing hydrogels and focus on the working principles of the active systems with different structure designs. We discuss the advancements of hydrogel-based soft robots capable of swift locomotion with different gaits and emphasize the significances of structure control and dynamic actuation. Then we summarize versatile applications of hydrogel-based actuators and robots in biomedicines, cargo delivery, soft electronics, information encryption, and so forth. Some hydrogel robots with a built-in feedback loop and self-sensing system exhibit collaborative functions and advanced intelligence that are informative for the design of next-generation hydrogel machines. Finally, concluding remarks are given to discuss future opportunities and remaining challenges in this field. For example, miniature hydrogel-based actuators/robots with therapeutic or diagnostic functions are highly desired for biomedical applications. The morphing mechanisms summarized in this Account should be applicable to other responsive materials. We hope that this Account will inspire more scientists to be involved in this emerging area and make contributions to reveal novel working principles, design multifunctional soft machines, and explore applications in diverse fields.

Mechanics of a Biomimetic Moisture Sensitive Actuator Based on Compression Wood

Various mechanisms of plant organ movements have been reported, including the close association of two layers with expressed differences in hygroscopic properties. Following this principle, actuator beams composed of thin veneers out of normal and compression wood cut from Scots pine (Pinus sylvestris L.) were prepared by using two types of adhesives. The mismatch of the swelling properties of the two layers in tight combination resulted in an expressed bending deflection in response to set humidity changes. The resulting curvatures were measured and analyzed by the Timoshenko bi-metal-model, as well as with an enhanced three-layer model, with the latter also considering the mechanical influence of the glueline on the actuator bending. The thermally induced strain in the original model was replaced by another strain due to moisture changes. The strain was modelled as a function of wood density, along with changes in wood moisture. Experiments with free movement of the bilayer to measure curvature, and with constraints to determine forces, were performed as well. Deformation and magnitude of actuators movements were in close agreement with the enhanced bilayer-model for the phenol-resorcinol-formaldehyde adhesive, which deviated substantially from the casein adhesive glued actuators. The obtained results are seen as critical for wood-based actuator systems that are potentially used in buildings or other applications.

Spontaneous and rapid electro-actuated snapping of constrained polyelectrolyte hydrogels

Venus flytrap and bladderwort, capable of rapid predation through a snapping transition, have inspired various designs of soft actuators and robots with fast actions. These designs, in contrast to their natural counterparts, often require a direct force or pressurization. Here, we report a bistable domal hydrogel structure capable of spontaneous and reversible snapping under an electric field. Unlike a mechanical force, the electric field does not drive the gel directly. Instead, it redistributes mobile ions that direct the migration of water molecules and bends the polyelectrolyte hydrogel. Subject to constraint from surrounding neutral gel, the elastic energy accumulates until suddenly released by snapping, just like the process in natural organisms. Several proof-of-concept examples, including an optical switch, a speedy catcher, and a pulse pump, are designed to demonstrate the versatile functionalities of this unit capable of articulate motion. This work should bring opportunities to devise soft robotics, biomedical devices, etc.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Advances in Field-Assisted 3D Printing of Bio-Inspired Composites: From Bioprototyping to Manufacturing

Biocomposite systems evolve to superior structural strategies in adapting to their living environments, using limited materials to form functionality superior to their inherent properties. The synergy of physical-field and Three-dimensional （3D） printing technologies creates unprecedented opportunities that overcome the limitations of traditional manufacturing methods and enable the precise replication of bio-enhanced structures. Here, an overview of typical structural designs in biocomposite systems, their functions and properties, are provided and the recent advances in bio-inspired composites using mechanical, electrical, magnetic, and ultrasound-field-assisted 3D printing techniques are highlighted. Finally, in order to realize the preparation of bionic functional devices and equipment with more superior functions, here an outlook on the development of field-assisted 3D printing technology from three aspects are provided: Materials, technology, and post-processing.

MotorSkins-a bio-inspired design approach towards an interactive soft-robotic exosuit

The work presents a bio-inspired design approach to a soft-robotic solution for assisting the knee-bending in users with reduced mobility in lower limbs. Exosuits and fluid-driven actuators are fabric-based devices that are gaining increasing relevance as alternatives assistive technologies that can provide simpler, more flexible solutions in comparison with the rigid exoskeletons. These devices, however, commonly require an external energy supply or a pressurized-fluid reservoir, which considerably constrain the autonomy of such solutions. In this work, we introduce an event-based energy cycle (EBEC) design concept, that can harvest, store, and release the required energy for assisting the knee-bending, in a synchronised interaction with the user and the environment, thus eliminating any need for external energy or control input. Ice-plant hydro-actuation system served as the source of inspiration to address the specific requirements of such interactive exosuit through a fluid-driven material system. Based on the EBEC design concepts and the abstracted bio-inspired principles, a series of (material and process driven) design experimentations helped to address the challenges of realising various functionalities of the harvest, storage, actuation and control instances within a closed hydraulic circuit. Sealing and defining various areas of water-tight seam made out of thermoplastic elastomers provided the base material system to program various chambers, channels, flow-check valves etc of such EBEC system. The resulting fluid-driven EBEC-skin served as a proof of concept for such active exosuit, that brings these functionalities into an integrated 'sense-acting' material system, realising an auto-synchronised energy and information cycles. The proposed design concept can serve as a model for development of similar fluid-driven EBEC soft-machines for further applications. On the more general scheme, the work presents an interdisciplinary design-science approach to bio-inspiration and showcases how biological material solutions can be looked at from a design/designer perspective to bridge the bottom-up and top-down approach to bio-inspiration.

Deciphering and engineering tissue folding: A mechanical perspective

The folding of tissues/organs into complex shapes is a common phenomenon that occurs in organisms such as animals and plants, and is both structurally and functionally important. Deciphering the process of tissue folding and applying this knowledge to engineer folded systems would significantly advance the field of tissue engineering. Although early studies focused on investigating the biochemical signaling events that occur during the folding process, the physical or mechanical aspects of the process have received increasing attention in recent years. In this review, we will summarize recent findings on the mechanical aspects of folding and introduce strategies by which folding can be controlled in vitro. Emphasis will be placed on the folding events triggered by mechanical effects at the cellular and tissue levels and on the different cell- and biomaterial-based approaches used to recapitulate folding. Finally, we will provide a perspective on the development of engineering tissue folding toward preclinical and clinical translation. STATEMENT OF SIGNIFICANCE: Tissue folding is a common phenomenon in a variety of organisms including human, and has been shown to serve important structural and functional roles. Understanding how folding forms and applying the concept in tissue engineering would represent an advance of the research field. Recently, the physical or mechanical aspect of tissue folding has gained increasing attention. In this review, we will cover recent findings of the mechanical aspect of folding mechanisms, and introduce strategies to control the folding process in vitro. We will also provide a perspective on the future development of the field towards preclinical and clinical translation of various bio fabrication technologies.

Recent progress of biomimetic motions-from microscopic micro/nanomotors to macroscopic actuators and soft robotics

Motion is a basic behavioral attribute of organisms, and it is a behavioral response of organisms to the external environment and internal state changes. Materials with switchable mechanical properties are widespread in living organisms and play crucial roles in the motion of organisms. Therefore, significant efforts have been made toward mimicking such architectures and motion behaviors by making full use of the properties of stimulus-responsive materials to design smart materials/machines with specific functions. In recent years, the biomimetic motions based on micro/nanomotors, actuators and soft robots constructed from smart response materials have been developed gradually. However, a comprehensive discussion on various categories of biomimetic motions in this field is still missing. This review aims to provide such a panoramic overview. From nano-to macroscales, we summarize various biomimetic motions based on micro/nanomotors, actuators and soft robotics. For each biomimetic motion, we discuss the driving modes and the key functions. The challenges and opportunities of biomimetic motions are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional biomimetic motions based on micro/nanomotors, actuators and soft robotics will certainly bring profound impacts and changes for human life in the near future.

Plant Nanomaterials and Inspiration from Nature: Water Interactions and Hierarchically Structured Hydrogels

Recent developments in the area of plant-based hydrogels are introduced, especially those derived from wood as a widely available, multiscale, and hierarchical source of nanomaterials, as well as other cell wall elements. With water being fundamental in a hydrogel, water interactions, hydration, and swelling, all critically important in designing, processing, and achieving the desired properties of sustainable and functional hydrogels, are highlighted. A plant, by itself, is a form of a hydrogel, at least at given states of development, and for this reason phenomena such as fluid transport, diffusion, capillarity, and ionic effects are examined. These aspects are highly relevant not only to plants, especially lignified tissues, but also to the porous structures produced after removal of water (foams, sponges, cryogels, xerogels, and aerogels). Thus, a useful source of critical and comprehensive information is provided regarding the synthesis of hydrogels from plant materials (and especially wood nanostructures), and about the role of water, not only for processing but for developing hydrogel properties and uses.

Bio-Inspired Motion Mechanisms: Computational Design and Material Programming of Self-Adjusting 4D-Printed Wearable Systems

This paper presents a material programming approach for designing 4D-printed self-shaping material systems based on biological role models. Plants have inspired numerous adaptive systems that move without using any operating energy; however, these systems are typically designed and fabricated in the form of simplified bilayers. This work introduces computational design methods for 4D-printing bio-inspired behaviors with compounded mechanisms. To emulate the anisotropic arrangement of motile plant structures, material systems are tailored at the mesoscale using extrusion-based 3D-printing. The methodology is demonstrated by transferring the principle of force generation by a twining plant (Dioscorea bulbifera) to the application of a self-tightening splint. Through the tensioning of its stem helix, D. bulbifera exhibits a squeezing force on its support to provide stability against gravity. The functional strategies of D. bulbifera are abstracted and translated to customized 4D-printed material systems. The squeezing forces of these bio-inspired motion mechanisms are then evaluated. Finally, the function of self-tightening is prototyped in a wrist-forearm splint-a common orthotic device for alignment. The presented approach enables the transfer of novel and expanded biomimetic design strategies to 4D-printed motion mechanisms, further opening the design space to new types of adaptive creations for wearable assistive technologies and beyond.

Wood and the Activity of Dead Tissue

Wood is a prototypical biological material, which adapts to mechanical requirements. The microarchitecture of cellulose fibrils determines the mechanical properties of woody materials, as well as their actuation properties, based on absorption and desorption of water. Herein it is argued that cellulose fiber orientation corresponds to an analog code that determines the response of wood to humidity as an active material. Examples for the harvesting of wood activity, as well as bioinspiration, are given.

Self-Actuated Paper and Wood Models: Low-Cost Handcrafted Biomimetic Compliant Systems for Research and Teaching

The abstraction and implementation of plant movement principles into biomimetic compliant systems are of increasing interest for technical applications, e.g., in architecture, medicine, and soft robotics. Within the respective research and development approaches, advanced methods such as 4D printing or 3D-braiding pultrusion are typically used to generate proof-of-concept demonstrators at the laboratory or demonstrator scale. However, such techniques are generally time-consuming, complicated, and cost-intensive, which often impede the rapid realization of a sufficient number of demonstrators for testing or teaching. Therefore, we have produced comparable simple handcrafted compliant systems based on paper, wood, plastic foil, and/or glue as construction materials. A variety of complex plant movement principles have been transferred into these low-cost physical demonstrators, which are self-actuated by shrinking processes induced by the anisotropic hygroscopic properties of wood or paper. The developed systems have a high potential for fast, precise, and low-cost abstraction and transfer processes in biomimetic approaches and for the "hands-on understanding" of plant movements in applied university and school courses.

3D Reticulated Actuator Inspired by Plant Up-Righting Movement Through a Cortical Fiber Network

Since most plant movements take place through an interplay of elastic deformation and strengthening tissues, they are thus ideal concept generators for biomimetic hingeless actuators. In the framework of a biomimetic biology push process, we present the transfer of the functional movement principles of hollow tubular geometries that are surrounded by a net-like structure. Our plant models are the recent genera Ochroma (balsa) and Carica (papaya) as well as the fossil seed fern Lyginopteris oldhamia, which hold a net of macroscopic fiber structures enveloping the whole trunk. Asymmetries in these fiber nets, which are specifically caused by asymmetric growth of the secondary wood, enable the up-righting of inclined Ochroma and Carica stems. In a tubular net-like structure, the fiber angles play a crucial role in stress–strain relationships. When braided tubes are subjected to internal pressure, they become shorter and thicker if the fiber angle is greater than 54.7°. However, if the fiber angle is less than 54.7°, they become longer and thinner. In this article, we use straightforward functional demonstrators to show how insights into functional principles from living nature can be transferred into plant-inspired actuators with linear or asymmetric deformation.

Recent Progress on Plant-Inspired Soft Robotics with Hydrogel Building Blocks: Fabrication, Actuation and Application

Millions of years’ evolution has imparted life on earth with excellent environment adaptability. Of particular interest to scientists are some plants capable of macroscopically and reversibly altering their morphological and mechanical properties in response to external stimuli from the surrounding environment. These intriguing natural phenomena and underlying actuation mechanisms have provided important design guidance and principles for man-made soft robotic systems. Constructing bio-inspired soft robotic systems with effective actuation requires the efficient supply of mechanical energy generated from external inputs, such as temperature, light, and electricity. By combining bio-inspired designs with stimuli-responsive materials, various intelligent soft robotic systems that demonstrate promising and exciting results have been developed. As one of the building materials for soft robotics, hydrogels are gaining increasing attention owing to their advantageous properties, such as ultra-tunable modulus, high compliance, varying stimuli-responsiveness, good biocompatibility, and high transparency. In this review article, we summarize the recent progress on plant-inspired soft robotics assembled by stimuli-responsive hydrogels with a particular focus on their actuation mechanisms, fabrication, and application. Meanwhile, some critical challenges and problems associated with current hydrogel-based soft robotics are briefly introduced, and possible solutions are proposed. We expect that this review would provide elementary tutorial guidelines to audiences who are interested in the study on nature-inspired soft robotics, especially hydrogel-based intelligent soft robotic systems.

Rapidly Reversible Organic Crystalline Switch for Conversion of Heat into Mechanical Energy

Solid-state thermoelastic behavior-a sudden exertion of an expansive or contractive physical force following a temperature change and phase transition in a solid-state compound-is rare in organic crystals, few are reversible systems, and most of these are limited to a dozen or so cycles before the crystal degrades or they reverse slowly over the course of many minutes or even hours. Comparable to thermosalience, wherein crystal phase changes induce energetic jumping, thermomorphism produces physical work via consistent and near-instantaneous predictable directional force. In this work, we show a fully reversible thermomorphic actuator that is stable at room temperature for multiple years and is capable of actuation for more than 200 cycles at near-ambient temperature. Specifically, the crystals shrink to 90% of their original length instantaneously upon heating beyond 45 °C and expand back to their original length upon cooling below 35 °C. Furthermore, the phase transition occurs instantaneously, with little obvious hysteresis, allowing us to create real-time actuating thermal fuses that cycle between on and off rapidly.

Rapid Moisture-Responsive Silk Fibroin Actuators

We report the unique actuation characteristics of moisture-driven, fully reversible soft biopolymer films fabricated from Bombyx mori silk. The instantaneous actuation is driven by the water vapor induced stress gradient generated across the thickness of the film, and it possesses subsecond response and actuation times. The excellent durability and consistent performance of the film without any noticeable fatigue are established by subjecting it to more than a thousand continuous actuation cycles. The weight-lifting capability of the film is fascinating, where a few tens of micrograms of water generate a colossal force required to lift hundreds of milligrams of weight. Several other potential uses of silk fibroin based soft actuators, such as an intelligent textile layer with the crescent-shaped windows that open on perspiring skin and an autonomous crawler, are also demonstrated. Interestingly, even moisture emanating from the human palm triggers the ultrafast actuation process. These silk films are fabricated using a simple facile solution-casting technique, which can be scaled up with relative ease.

Gaussian-preserved, non-volatile shape morphing in three-dimensional microstructures for dual-functional electronic devices

Motile plant structures such as Mimosa pudica leaves, Impatiens glandulifera seedpods, and Dionaea muscipula leaves exhibit fast nastic movements in a few seconds or less. This motion is stimuli-independent mechanical movement following theorema egregium rules. Artificial analogs of tropistic motion in plants are exemplified by shape-morphing systems, which are characterized by high functional robustness and resilience for creating 3D structures. However, all shape-morphing systems developed so far rely exclusively on continuous external stimuli and result in slow response. Here, we report a Gaussian-preserved shape-morphing system to realize ultrafast shape morphing and non-volatile reconfiguration. Relying on the Gaussian-preserved rules, the transformation can be triggered by mechanical or thermal stimuli within a microsecond. Moreover, as localized energy minima are encountered during shape morphing, non-volatile configuration is preserved by geometrically enhanced rigidity. Using this system, we demonstrate a suite of electronic devices that are reconfigurable, and therefore, expand functional diversification.

Designing the functional diversification of electronic devices with morphable 3D structures in multistable states remains a challenge. Here, the authors present a Gaussian-preserved shape-morphing system to realize ultrafast shape morphing and non-volatile reconfiguration developing dual-functional electronic devices, such as switch, actuator, and antenna on microscale.

Self-Winding Gelatin-Amyloid Wires for Soft Actuators and Sensors

The origin of self-winding mechanisms in plants' tendrils has fascinated scientists for centuries and continues to inspire developments in material science and nanotechnology. Here, bioinspired water-responsive wires that replicate these mechanisms, including the formation of coils and chiral perversions, are presented. A right-handed gelatin matrix is loaded with rigid left-handed amyloid fibrils and roll-dry-spun into wires in which self-winding activation emerges from simultaneous bending and twisting deformations. Wire bending is a consequence of amyloid fibrils' concentration and distribution within the wire, whereas twisting is controlled by amyloid fibrils' orientation. The resultant wires can be functionalized by organic molecules and inorganic nanoparticles, and potential applications in magnetic actuators and sensors are demonstrated. The simple fabrication method and the remarkable spontaneous self-winding response of these gelatin-amyloid wires exemplify how biomaterials based on mixed proteins have striking potential to develop advanced and tunable properties that can serve robotics, soft machines, and engineering systems.

Nanofibrous Actuator with an Alignment Gradient for Millisecond-Responsive, Multidirectional, Multimodal, and Multidimensional Large Deformation

Although progress has been made in the construction of stimulus-responsive actuators, the performance of these smart materials is still unsatisfactory, owing to their slow response, small deformation amplitude, uncontrollable bending direction, and unidirectional (2D to 3D) transformation. Herein, we employ a structural bionic strategy to design and fabricate a novel water/moisture responsive nanofibrous actuator with an alignment degree gradient. Owing to its different contraction gradient amplitudes along the thickness direction and the unique physical property of the nanofibrous material, the prepared actuator exhibits excellent shape deformation performance, including superfast response (less than 150 ms), controllable deformation directions, multiple actuation models, multiple dimensional deformation (0D-3D, 1D-3D, 2D-3D, and 3D-3D), large bending curvature (25.3 cm^-1), and a repeatability rate of at least 1000. The actuation performance of the nanofibrous actuator is superior to the currently reported actuators. The nanofibers are integrated into layer-by-layer and side-by-side structures to achieve competitive and independent actuation, respectively. The outstanding shape-changing properties of the nanofibrous actuator result in the construction of practical intelligent devices for applications such as amphibious movement, intelligent protection, and cargo transportation. The nanofibrous actuator designed herein exhibits tremendous potential in soft robotics, sensors, and biomedicine.

A Photoresponsive Hydrogel with Enhanced Photoefficiency and the Decoupled Process of Light Activation and Shape Changing for Precise Geometric Control

Traditional shape-morphing hydrogels rely on structural implementation of inhomogeneity inside the material during fabrication to realize predetermined complex shape change upon activation. In recent years, several systems with reprogrammable shape-morphing capabilities have been developed. Among those, the photoresponsive hydrogels offer the best spatial and temporal control. However, for most photoresponsive hydrogels, upon light irradiation, they simultaneously deform, which requires the projection of the light pattern to be continuously adaptive to the deforming gel. It is impractical for complex 3D morphing. In this paper, by incorporating two photodissociable molecules that can form a reactive ion couple upon light activation into one hydrogel, the light irradiation process is decoupled with the morphing process, and the consumption of the reactive ion couple drives the reversible photochemical reaction forward. Consequently, the photochemical reaction efficiency is improved, and the photoresponsive molecules are locked in the activated state until a recovery stimulus is applied. Based on the proposed general scheme, a specific example is given by incorporating the triphenylmethane leucohydroxide and 2-nitrobenzaldehyde molecules into a polyacrylamide hydrogel. The swelling behavior is characterized, and the reprogrammable morphing with precisely controlled geometry is demonstrated.

pH-Responsive Properties of Asymmetric Nanopapers of Nanofibrillated Cellulose

Inspired by plant movements driven by the arrangement of cellulose, we have fabricated nanopapers of nanofibrillated cellulose (NFC) showing actuation under pH changes. Bending was achieved by a concentration gradient of charged groups along the film thickness. Hence, the resulting nanopapers contained higher concentration of charged groups on one side of the film than on the opposite side, so that pH changes resulted in charge-dependent asymmetric deprotonation of the two layers. Electrostatic repulsions separate the nanofibers in the nanopaper, thus facilitating an asymmetric swelling and the subsequent expanding that results in bending. Nanofibrillated cellulose was modified by 2,2,6,6-tetramethylpiperidin-1-yl)oxyl radical (TEMPO) oxidation at two reaction times to get different surface concentrations of carboxylic acid groups. TEMPO-oxidized NFC was further chemically transformed into amine-modified NFC by amidation. The formation of graded nanopapers was accomplished by successive filtration of NFC dispersions with varying charge nature and/or concentration. The extent of bending was controlled by the charge concentration and the nanopaper thickness. The direction of bending was tuned by the layer composition (carboxylic acid or amine groups). In all cases, a steady-state was achieved within less than 25 s. This work opens new routes for the use of cellulosic materials as actuators.

A Framework to Achieve Multifunctionality in Biomimetic Adaptive Building Skins

Building skins should host multiple functions for increased performance. Addressing this, their design can benefit by learning from nature to achieve multifunctionality, where multifunctional strategies have evolved over years. However, existing frameworks to develop biomimetic adaptive building skins (Bio-ABS) have limited capabilities transferring multifunctionality from nature into designs. This study shows that through investigating the principles of hierarchy and heterogeneity, multifunctionality in nature can be transferred into biomimetic strategies. We aim at mapping the existing knowledge in biological adaptations from the perspective of multifunctionality and developing a framework achieving multifunctionality in Bio-ABS. The framework is demonstrated through the case study of Echinocactus grusonii implemented as a Bio-ABS on a digital base-case building. The methods include the Bio-ABS case study demonstrating the framework and simulating the performance of the case study and base-case building to comparatively analyze the results. The outcomes are a framework to develop multifunctional Bio-ABS and simulation results on the performance improvement Bio-ABS offer. The performance comparison between the Bio-ABS and base-case building show that there is a decrease in the discomfort hours by a maximum of 23.18%. In conclusion, translating heterogeneity and hierarchy principles in nature into engineered designs is a key aspect to achieve multifunctionality in Bio-ABS offering improved strategies in performance over conventional buildings.

Seed ejection mechanism in an Oxalis species

With millions of years' evolution, plants and fungi have developed a variety of ballistic dispersal structures for seeds or spores. One typical example is the catapult of an Oxalis sp., which can realize a consecutive seed ejection by triggering only one seed. If the protrusion on an aril, a specialized outgrowth covering a seed, is disturbed, cracks would occur and cause the opening of the aril. Subsequently, the whole aril snaps and transforms its stored strain energy to eject the inside seed with an optimal launching angle. Once the first seed is triggered, its curly aril will contact the next seed's protrusion and induce its firing. This chain effect will further trigger the remaining seeds in turns, within 0.1 s. Inspired by this phenomenon, we invented a bionic ejection device to launch projectiles with high efficiency. This exploration is promising for a number of applications, such as drug delivery and oil displacement.

4D pine scale: biomimetic 4D printed autonomous scale and flap structures capable of multi-phase movement

We developed biomimetic hygro-responsive composite polymer scales inspired by the reversible shape-changes of Bhutan pine (Pinus wallichiana) cone seed scales. The synthetic kinematic response is made possible through novel four-dimensional (4D) printing techniques with anisotropic material use, namely copolymers with embedded cellulose fibrils and ABS polymer. Multi-phase motion like the subsequent transversal and longitudinal bending deformation during desiccation of a natural pinecone scale can be structurally programmed into such printed hygromorphs. Both the natural concept generator (Bhutan pinecone scale) and the biomimetic technical structure (4D printed scale) were comparatively investigated as to their displacement and strain over time via three-dimensional digital image correlation methods. Our bioinspired prototypes can be the basis for tailored autonomous and self-sufficient flap and scale structures performing complex consecutive motions for technical applications, e.g. in architecture and soft robotics. This article is part of the theme issue 'Bioinspired materials and surfaces for green science and technology (part 3)'.

Light-Mediated Shape Transformation of a Self-Rolling Nanocomposite Hydrogel Tube

Self-rolling of a planar hydrogel sheet represents an advanced approach for fabricating a tubular construct, which is of significant interest in biomedicine. However, the self-rolling tube is usually lacking in remote controllability and requires a relatively tedious fabrication procedure. Herein, we present an easy and controllable approach for fabricating self-rolling tubes that can respond to both magnetic field and light. With the introduction of magnetic nanorods in a hydrogel precursor, a strain gradient is created across the thickness of the formed hydrogel sheet during the photopolymerization process. After the removal of the strain constraint, the nanocomposite sheet rolls up spontaneously. The self-rolling scenario of the sheet can be tuned by varying the sheet geometry and the magnetic nanorod concentration in the hydrogel precursor. The nanocomposite hydrogel tube translates in the presence of a magnetic field and produces heat upon a near-infrared (NIR) light illumination by virtue of the magnetic and photo-thermal properties of the magnetic nanorods. The self-rolling tube either opens up or expands its diameter under NIR light irradiation depending on the number of rolls in the tube. With the use of a thermo-responsive hydrogel material, we demonstrate the magnetically guided motion of the chemical-bearing nanocomposite hydrogel tube and its controlled chemical release through its light-mediated deformation. The approach reported herein is expected to be applicable to other self-rolling polymer-based dry materials, and the nanocomposite hydrogel tube presented in this work may find potential applications in soft robot and controlled release of drug.

4D Printing of a Light-Driven Soft Actuator with Programmed Printing Density

There is a growing interest in the concept of four-dimensional (4D) printing that combines a three-dimensional (3D) manufacturing process with dynamic modulation for bioinspired soft materials exhibiting more complex functionality. However, conventional approaches have drawbacks of low resolution, control of internal micro/nanostructure, and creation of fast, complex actuation due to a lack of high-resolution fabrication technology and suitable photoresist for soft materials. Here, we report an approach of 4D printing that develops a bioinspired soft actuator with a defined 3D geometry and programmed printing density. Multiphoton lithography (MPL) allows for controlling printing density in gels at pixel-by-pixel with a resolution of a few hundreds of nanometers, which tune swelling behaviors of gels in response to external stimuli. We printed a 3D soft actuator composed of thermoresponsive poly(N-isopropylacrylamide) (PNIPAm) and gold nanorods (AuNRs). To improve the resolution of printing, we synthesized a functional, thermoresponsive macrocrosslinker. Through plasmonic heating by AuNRs, nanocomposite-based soft actuators undergo nonequilibrium, programmed, and fast actuation. Light-mediated manufacture and manipulation (MPL and photothermal effect) offer the feasibility of 4D printing toward adaptive bioinspired soft materials.

Pneumatic Coiling Actuator Inspired by the Awns of Erodium cicutarium

This study examines the coiling and uncoiling motions of a soft pneumatic actuator inspired by the awn tissue of Erodium cicutarium. These tissues have embedded cellulose fibers distributed in a tilted helical pattern, which induces hygroscopic coiling and uncoiling in response to the daily changes in ambient humidity. Such sophisticated motions can eventually “drill” the seed at the tip of awn tissue into the soil: a drill bit in the plant kingdom. Through finite element simulation and experimental testing, this study examines a soft pneumatic actuator that has a similar reinforcing fiber layout to the Erodium plant tissue. This actuator, in essence, is a thin-walled elastomeric cylinder covered by tilted helical Kevlar fibers. Upon internal pressurization, it can exhibit a coiling motion by a combination of simultaneous twisting, bending, and extension. Parametric analyses show that the coiling motion characteristics are directly related to the geometry of tilted helical fibers. Notably, a moderate tilt in the reinforcing helical fiber leads to many coils of small radius, while a significant tilt gives fewer coils of larger radius. The results of this study can offer guidelines for constructing plant-inspired robotic manipulators that can achieve complicated motions with simple designs.

Biomimetic Nonuniform, Dual-Stimuli Self-Morphing Enabled by Gradient Four-Dimensional Printing

Programmable nonuniform deformation is of great significance for self-shape-morphing systems that are commonly seen in biological systems and also has practical applications in drug delivery, biomedical devices and robotics, etc. Here, we present a novel gradient four-dimensional (4D) printing method toward biomimetic nonuniform, dual-stimuli self-morphing. By modeling and printing graded active materials with water swelling properties, we can configure continuously smooth gradients of volume fraction of the active material in bilayer structures. The variation of swelling ratio mismatch between the two layers can be delicately regulated, which results in the programmable nonuniform shape transformation. The shape-shifting results can be predicted by the established mathematical model and computational simulations. Furthermore, we demonstrate dual-stimuli self-morphing structures by printing the graded water-responsive elastomer materials onto a heat-shrinkable shape memory polymer, which could produce different shape changes in response to humidity and different temperatures. This method pioneers a versatile approach to broaden the design space for 4D printing and will be compatible with a wide range of active materials meeting various requirements in diverse potential applications.

Nano-indentation reveals a potential role for gradients of cell wall stiffness in directional movement of the resurrection plant Selaginella lepidophylla

As a physical response to water loss during drought, inner Selaginella lepidophylla stems curl into a spiral shape to prevent photoirradiation damage to their photosynthetic surfaces. Curling is reversible and involves hierarchical deformation, making S. lepidophylla an attractive model with which to study water-responsive actuation. Investigation at the organ and tissue level has led to the understanding that the direction and extent of stem curling can be partially attributed to stiffness gradients between adaxial and abaxial stem sides at the nanoscale. Here, we examine cell wall elasticity to understand how it contributes to the overall stem curling. We compare the measured elastic moduli along the stem length and between adaxial and abaxial stem sides using atomic force microscopy nano-indentation testing. We show that changes in cortex secondary cell wall development lead to cell wall stiffness gradients from stem tip to base, and also between adaxial and abaxial stem sides. Changes in cortical cell wall morphology and secondary cell wall composition are suggested to contribute to the observed stiffness gradients.