Hydrogel Actuators and Sensors for Biomedical Soft Robots: Brief Overview with Impending Challenges

Skin-inspired, sensory robots for electronic implants

Drawing inspiration from cohesive integration of skeletal muscles and sensory skins in vertebrate animals, we present a design strategy of soft robots, primarily consisting of an electronic skin (e-skin) and an artificial muscle. These robots integrate multifunctional sensing and on-demand actuation into a biocompatible platform using an in-situ solution-based method. They feature biomimetic designs that enable adaptive motions and stress-free contact with tissues, supported by a battery-free wireless module for untethered operation. Demonstrations range from a robotic cuff for detecting blood pressure, to a robotic gripper for tracking bladder volume, an ingestible robot for pH sensing and on-site drug delivery, and a robotic patch for quantifying cardiac function and delivering electrotherapy, highlighting the application versatilities and potentials of the bio-inspired soft robots. Our designs establish a universal strategy with a broad range of sensing and responsive materials, to form integrated soft robots for medical technology and beyond.

4D Printing for Biomedical Applications

4D (bio-)printing endows 3D printed (bio-)materials with multiple functionalities and dynamic properties. 4D printed materials have been recently used in biomedical engineering for the design and fabrication of biomedical devices, such as stents, occluders, microneedles, smart 3D-cell engineered microenvironments, drug delivery systems, wound closures, and implantable medical devices. However, the success of 4D printing relies on the rational design of 4D printed objects, the selection of smart materials, and the availability of appropriate types of external (multi-)stimuli. Here, this work first highlights the different types of smart materials, external stimuli, and design strategies used in 4D (bio-)printing. Then, it presents a critical review of the biomedical applications of 4D printing and discusses the future directions of biomedical research in this exciting area, including in vivo tissue regeneration studies, the implementation of multiple materials with reversible shape memory behaviors, the creation of fast shape-transformation responses, the ability to operate at the microscale, untethered activation and control, and the application of (machine learning-based) modeling approaches to predict the structure-property and design-shape transformation relationships of 4D (bio)printed constructs.

3D Printing of Double Network Granular Elastomers with Locally Varying Mechanical Properties

Fast advances in the design of soft actuators and robots demand for new soft materials whose mechanical properties can be changed over short length scales. Elastomers can be formulated as highly stretchable or rather stiff materials and hence, are attractive for these applications. They are most frequently cast such that their composition cannot be changed over short length scales. A method that allows to locally change the composition of elastomers on hundreds of micrometer lengths scales is direct ink writing (DIW). Unfortunately, in the absence of rheomodifiers, most elastomer precursors cannot be printed through DIW. Here, 3D printable double network granular elastomers (DNGEs) whose ultimate tensile strain and stiffness can be varied over an unprecedented range are introduced. The 3D printability of these materials is leveraged to produce an elastomer finger containing rigid bones that are surrounded by a soft skin. Similarly, the rheological properties of the microparticle-based precursors are leveraged to cast elastomer slabs with locally varying stiffnesses that deform and twist in a predefined fashion. These DNGEs are foreseen to open up new avenues in the design of the next generation of smart wearables, strain sensors, prosthesis, soft actuators, and robots.

Tough Hydrogels with Different Toughening Mechanisms and Applications

Load-bearing biological tissues, such as cartilage and muscles, exhibit several crucial properties, including high elasticity, strength, and recoverability. These characteristics enable these tissues to endure significant mechanical stresses and swiftly recover after deformation, contributing to their exceptional durability and functionality. In contrast, while hydrogels are highly biocompatible and hold promise as synthetic biomaterials, their inherent network structure often limits their ability to simultaneously possess a diverse range of superior mechanical properties. As a result, the applications of hydrogels are significantly constrained. This article delves into the design mechanisms and mechanical properties of various tough hydrogels and investigates their applications in tissue engineering, flexible electronics, and other fields. The objective is to provide insights into the fabrication and application of hydrogels with combined high strength, stretchability, toughness, and fast recovery as well as their future development directions and challenges.

Multi-domain automated patterning of DNA-functionalized hydrogels

DNA-functionalized hydrogels are capable of sensing oligonucleotides, proteins, and small molecules, and specific DNA sequences sensed in the hydrogels' environment can induce changes in these hydrogels' shape and fluorescence. Fabricating DNA-functionalized hydrogel architectures with multiple domains could make it possible to sense multiple molecules and undergo more complicated macroscopic changes, such as changing fluorescence or changing the shapes of regions of the hydrogel architecture. However, automatically fabricating multi-domain DNA-functionalized hydrogel architectures, capable of enabling the construction of hydrogel architectures with tens to hundreds of different domains, presents a significant challenge. We describe a platform for fabricating multi-domain DNA-functionalized hydrogels automatically at the micron scale, where reaction and diffusion processes can be coupled to program material behavior. Using this platform, the hydrogels' material properties, such as shape and fluorescence, can be programmed, and the fabricated hydrogels can sense their environment. DNA-functionalized hydrogel architectures with domain sizes as small as 10 microns and with up to 4 different types of domains can be automatically fabricated using ink volumes as low as 50 μL. We also demonstrate that hydrogels fabricated using this platform exhibit responses similar to those of DNA-functionalized hydrogels fabricated using other methods by demonstrating that DNA sequences can hybridize within them and that they can undergo DNA sequence-induced shape change.

Super flexible, self-healing, and self-adhesive double network hydrogel reinforced by okara cellulose nanofibrils

Inspired by the mussel, tannic acid (TA) was modified onto the surface of self-made cellulose nanofibrils (CNFs) to prepare TA@CNFs, which was introduced into borax crosslinked polyvinyl alcohol (PVA) to prepare PTC double-network hydrogel with self-healing properties. Through the comparative observation of TEM images and infrared spectra before and after tannic acid modification, the formation of TA@CNFs was proved. The introduction of TA@CNFs greatly increases the fracture stress of PTC hydrogel, which is more than 10 times higher than that of PVA hydrogel without TA@CNFs, and has high fracture strain (1723 %). Moreover, PTC hydrogel has the ability of rapid self-healing, which can heal to the original form within two minutes. In addition, the temperature response ability of PTC hydrogel makes it capable of reshaping. The self-adhesion ability of PTC hydrogel enables it to adhere to the human epidermis to detect motion signals, as sensitive and as stable as a flexible sensor.

Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications

Soft robotics is an emerging field showing immense potential for biomedical applications. This review summarizes recent advancements in soft robotics for in vitro and in vivo medical contexts. Their inherent flexibility, adaptability, and biocompatibility enable diverse capabilities from surgical assistance to minimally invasive diagnosis and therapy. Intelligent stimuli-responsive materials and bioinspired designs are enhancing functionality while improving biocompatibility. Additive manufacturing techniques facilitate rapid prototyping and customization. Untethered chemical, biological, and wireless propulsion methods are overcoming previous constraints to access new sites. Meanwhile, advances in tracking modalities like computed tomography, fluorescence and ultrasound imaging enable precision localization and control enable in vivo applications. While still maturing, soft robotics promises more intelligent, less invasive technologies to improve patient care. Continuing research into biocompatibility, power supplies, biomimetics, and seamless localization will help translate soft robots into widespread clinical practice.

Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications

Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as "intelligent," "smart," and "adaptive" materials, which add vagueness to the broad innovation among literature. Therefore, a clear, functional, and descriptive naming scheme is proposed in which a previously vague name-Soft Material for Soft Actuators-can remain clear and concise-Phase-Change Elastomers for Artificial Muscles. By synthesizing the working principle, material, and application into a naming scheme, the searchability of soft robotics can be enhanced and applied to other fields. The field of thermo-active soft actuators spans multiple domains and requires added clarity. Thermo-active actuators have potential for a variety of applications spanning virtual reality haptics to assistive devices. This review offers a comprehensive guide to selecting the type of thermo-active actuator when one has an application in mind. In addition, it discusses future directions and improvements that are necessary for implementation.

Skin-inspired, sensory robots for electronic implants

Living organisms with motor and sensor units integrated seamlessly demonstrate effective adaptation to dynamically changing environments. Drawing inspiration from cohesive integration of skeletal muscles and sensory skins in these organisms, we present a design strategy of soft robots, primarily consisting of an electronic skin (e-skin) and an artificial muscle, that naturally couples multifunctional sensing and on-demand actuation in a biocompatible platform. We introduce an in situ solution-based method to create an e-skin layer with diverse sensing materials (e.g., silver nanowires, reduced graphene oxide, MXene, and conductive polymers) incorporated within a polymer matrix (e.g., polyimide), imitating complex skin receptors to perceive various stimuli. Biomimicry designs (e.g., starfish and chiral seedpods) of the robots enable various motions (e.g., bending, expanding, and twisting) on demand and realize good fixation and stress-free contact with tissues. Furthermore, integration of a battery-free wireless module into these robots enables operation and communication without tethering, thus enhancing the safety and biocompatibility as minimally invasive implants. Demonstrations range from a robotic cuff encircling a blood vessel for detecting blood pressure, to a robotic gripper holding onto a bladder for tracking bladder volume, an ingestible robot residing inside stomach for pH sensing and on-site drug delivery, and a robotic patch wrapping onto a beating heart for quantifying cardiac contractility, temperature and applying cardiac pacing, highlighting the application versatilities and potentials of the nature-inspired soft robots. Our designs establish a universal strategy with a broad range of sensing and responsive materials, to form integrated soft robots for medical technology and beyond.

Edible Origami Actuators Using Gelatin-Based Bioplastics

The potential of ingestible medical devices can be greatly enhanced through the use of smart structures made from stimuli-responsive materials. While hydration is a convenient stimulus for inducing shape changes in biomaterials, finding robust materials that can achieve rapid actuation, facile manufacturability, and biocompatibility suitable for ingestible medical devices poses practical challenges. Hydration is a convenient stimulus to induce shape changes in smart biomaterials; however, there are many practical challenges to identifying materials that can achieve rapid actuation and facile manufacturability while satisfying constraints associated with biocompatibility requirements and mechanical properties that are suitable for ingestible medical devices. Herein, we illustrate the formulation and processability of a moisture-responsive genipin-crosslinked gelatin bioplastic system, which can be processed into complex three-dimensional shapes. Mechanical characterization of bioplastic samples showed Young's Modulus values as high as 1845 MPa and toughness values up to 52 MJ/m3, using only food-safe ingredients. Custom molds and UV-laser processing enabled the fabrication of centimeter-scale structures with over 150 independent actuating joints. These self-actuating structures soften and unfold in response to surrounding moisture, eliminating the need for additional stimuli or actuating elements.

Stimuli-Responsive DNA-Based Hydrogels on Surfaces for Switchable Bioelectrocatalysis and Controlled Release of Loads

The assembly of enzyme [glucose oxidase (GOx)]-loaded stimuli-responsive DNA-based hydrogels on electrode surfaces, and the triggered control over the stiffness of the hydrogels, provides a means to switch the bioelectrocatalytic functions of the hydrogels. One system includes the assembly of GOx-loaded, pH-responsive, hydrogel matrices cross-linked by two cooperative nucleic acid motives comprising permanent duplex nucleic acids and "caged" i-motif pH-responsive duplexes. Bioelectrocatalyzed oxidation of glucose leads to the formation of gluconic acid that acidifies the hydrogel resulting in the separation of the i-motif constituents and lowering the hydrogel stiffness. Loading of the hydrogel matrices with insulin results in the potential-triggered, glucose concentration-controlled, switchable release of insulin from the hydrogel-modified electrodes. The switchable bioelectrocatalyzed release of insulin is demonstrated in the presence of ferrocenemethanol as a diffusional electron mediator or by applying an electrically wired integrated matrix that includes ferrocenyl-modified GOx embedded in the hydrogel. The second GOx-loaded, stimuli-responsive, DNA-based hydrogel matrix associated with the electrode includes a polyacrylamide hydrogel cooperatively cross-linked by duplex nucleic acids and "caged" G-quadruplex-responsive duplexes. The hydrogel matrix undergoes K+-ions/crown ether-triggered stiffness changes by the cyclic K+-ion-stimulated formation of G-quadruplexes (lower stiffness) and the crown ether-induced separation of the G-quadruplexes (higher stiffness). The hydrogel matrices demonstrate switchable bioelectrocatalytic functions guided by the stiffness properties of the hydrogels.

Recent Advances in Bioinspired Hydrogels: Materials, Devices, and Biosignal Computing

The remarkable ability of biological systems to sense and adapt to complex environmental conditions has inspired new materials and novel designs for next-generation wearable devices. Hydrogels are being intensively investigated for their versatile functions in wearable devices due to their superior softness, biocompatibility, and rapid stimulus response. This review focuses on recent strategies for developing bioinspired hydrogel wearable devices that can accommodate mechanical strain and integrate seamlessly with biological systems. We will provide an overview of different types of bioinspired hydrogels tailored for wearable devices. Next, we will discuss the recent progress of bioinspired hydrogel wearable devices such as electronic skin and smart contact lenses. Also, we will comprehensively summarize biosignal readout methods for hydrogel wearable devices as well as advances in powering and wireless data transmission technologies. Finally, current challenges facing these wearable devices are discussed, and future directions are proposed.

Technology Roadmap for Flexible Sensors

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative efforts, scientific breakthroughs can be made sooner and capitalized for the betterment of humanity.

Autonomous Soft Robots Empowered by Chemical Reaction Networks

Hydrogel actuators are important for designing stimuli-sensitive soft robots. They generate mechanical motion by exploiting compartmentalized (de)swelling in response to a stimulus. However, classical switching methods, such as manually lowering or increasing the pH, cannot provide more complex autonomous motions. By coupling an autonomously operating pH-flip with programmable lifetimes to a hydrogel system containing pH-responsive and non-responsive compartments, autoonenomous forward and backward motion as well as more complex tasks, such as interlocking of "puzzle pieces" and collection of objects are realized. All operations are initiated by one simple trigger, and the devices operate in a "fire and forget" mode. More complex self-regulatory behavior is obtained by adding chemo-mechano-chemo feedback mechanisms. Due to its simplicity, this method shows great potential for the autonomous operation of soft grippers and metamaterials.

Recent Progress of Biomimetic Tactile Sensing Technology Based on Magnetic Sensors

In the past two decades, biomimetic tactile sensing technology has been a hot spot in academia. It has prospective applications in many fields such as medical treatment, health monitoring, robot tactile feedback, and human-machine interaction. With the rapid development of magnetic sensors, biomimetic tactile sensing technology based on magnetic sensors (which are called magnetic tactile sensors below) has been widely studied in recent years. In order to clarify the development status and application characteristics of magnetic tactile sensors, this paper firstly reviews the magnetic tactile sensors from three aspects: the types of magnetic sensors, the sources of magnetic field, and the structures of sensitive bodies used in magnetic tactile sensors. Secondly, the development of magnetic tactile sensors in four applications of robot precision grasping, texture characterization, flow velocity measurement, and medical treatment is introduced in detail. Finally, this paper analyzes technical difficulties and proposes prospective research directions for magnetic tactile sensors.

Controlled Delivery and Photopatterning of Mechanical Properties in Polysaccharide Hydrogels Using Vanadium Coordination and Photochemistry

Incorporation of the transition metal ion V(V) into hydrogels has been used to impart photoresponsive behavior, which was used to tune materials properties during light irradiation. The photoreaction in QHE-cellulose/agarose hydrogels coordinated with vanadium was evidenced by a clear color change of yellow to blue through a green intermediate. This color change was attributed to the reduction of V(V) to V(IV) as described in our previous work. A concomitant oxidative breakdown of the polysaccharide chain was noticeable upon the reduction of V(V) with a decrease in stiffness (G') of the hydrogel material. This reduction of the metal ion and breakdown of polysaccharide chain induced irreversible changes in the microstructure of the hydrogel, enabling the controlled delivery of V(IV) and/or encapsulated cargo. Scanning electron microscopy studies showed an increase in pore sizes and guest cavity formation during irradiation. In addition to the significant drop in mechanical properties like storage and loss modulus in the gel materials, a viscosity drop in the polymer solution was observed through irradiation, indicating breakdown of the polysaccharide chain. A photomask can be used to create discrete patterns on these materials upon irradiation.

In situ integrated microrobots driven by artificial muscles built from biomolecular motors

Microrobots have been developed for applications in the submillimeter domain such as the manipulation of micro-objects and microsurgery. Rapid progress has been achieved in developing miniaturized components for microrobotic systems, resulting in a variety of functional microactuators and soft components for creating untethered microrobots. Nevertheless, the integration of microcomponents, especially the assembly of actuators and mechanical components, is still time-consuming and has inherent restrictions, thus limiting efficient fabrications of microrobots and their potential applications. Here, we propose a method for fabricating microrobots in situ inspired by the construction of microsystems in living organisms. In a microfluidic chip, hydrogel mechanical components and artificial muscle actuators are successively photopatterned from hydrogel prepolymer and biomolecular motors, respectively, and integrated in situ into functional microrobots. The proposed method allows the fast fabrication of microrobots through simple operations and affordable materials while providing versatile functions through the precise spatiotemporal control of in situ integration and reconfiguration of artificial muscles. To validate the method, we fabricated microrobots to elicit different motions and on-chip robots with unique characteristics for microfluidic applications. This study may establish a new paradigm for microrobot integration and lead to the production of unique biohybrid microrobots with various advantages.

Thermosensitive P(AAc-co-NIPAm) hydrogels display enhanced toughness and self-healing via ion-ligand interactions

Hydrogels containing thermosensitive polymers such as poly(N-isopropylacrylamide) (P(NIPAm)) may contract during heating and show great promise in fields ranging from soft robotics to thermosensitive biosensors. However, these gels often exhibit low stiffness, tensile strength, and mechanical toughness, limiting their applicability. Through copolymerization of P(NIPAm) with poly(Acrylic acid) (P(AAc)) and introduction of ferric ions (Fe³⁺ ) that coordinate with functional groups along the P(AAc) chains, we here introduce a thermoresponsive hydrogel with significantly enhanced mechanical extensibility, strength, and toughness. Using both experimentation and constitutive modeling, we find that increasing the ratio of m(AAc):m(NIPAm) in the prepolymer decreases strength and toughness but improves extensibility. In contrast, increasing Fe³⁺ concentration generally improves strength and toughness with little decrease in extensibility. Due to reversible coordination of the Fe³⁺ bonds, these gels display excellent recovery of mechanical strength during cyclic loading and self-healing ability. While thermosensitive contraction imbued by the underlying P(NIPAm) is reduced slightly with increased Fe³⁺ concentration, the temperature transition range is widened and shifted upwards towards that of human body temperature (between 30 and 40°C), perhaps rendering these gels suitable as in vivo biosensors. Finally, these gels display excellent adsorptive properties with a variety of materials, rendering them possible candidates in adhesive applications. This article is protected by copyright. All rights reserved.

Mechanically Diverse Gels with Equal Solvent Content

Mechanically diverse polymer gels are commonly integrated into biomedical devices, soft robots, and tissue engineering scaffolds to perform distinct yet coordinated functions in wet environments. Such multigel systems are prone to volume fluctuations and shape distortions due to differential swelling driven by osmotic solvent redistribution. Living systems evade these issues by varying proximal tissue stiffness at nearly equal water concentration. However, this feature is challenging to replicate with synthetic gels: any alteration of cross-link density affects both the gel's swellability and mechanical properties. In contrast to the conventional coupling of physical properties, we report a strategy to tune the gel modulus independent of swelling ratio by regulating network strand flexibility with brushlike polymers. Chemically identical gels were constructed with a broad elastic modulus range at a constant solvent fraction by utilizing multidimensional network architectures. The general design-by-architecture framework is universally applicable to both organogels and hydrogels and can be further adapted to different practical applications.

Jammed Microgel-Based Inks for 3D Printing of Complex Structures Transformable via pH/Temperature Variations

Structure changes mediated by anisotropic volume changes of stimuli-responsive hydrogels are useful for many research fields, yet relatively simple structured objects are mostly used due to limitation in fabrication methods. To fabricate complex 3 dimensional (3D) structures that undergo structure changes in response to external stimuli, jammed microgel-based inks containing precursors of stimuli-responsive hydrogels are developed for extrusion-based 3D printing. Specifically, the jammed microgel-based inks are prepared by absorbing precursors of poly(acrylic acid) or poly(N-isopropylacrylamide) in poly(acrylamide) (PAAm) microgels, and jamming them. The inks exhibit shear-thinning and self-healing properties that allow extrusion of the inks through a nozzle and rapid stabilization after printing. Stimuli-mediated volume changes are observed for the extruded structures when they are post-crosslinked by UV light to form interpenetrating networks of PAAm microgels and stimuli-responsive hydrogels. Using this method, a dumbbell-shaped object that can transform to a biconvex shape, and a gripper that can grasp and lift an object in response to stimuli are 3D-printed. The jammed microgel-based 3D printing strategy is a versatile method useful for variety of applications as diverse types of monomers absorbable in the microgels can be used to fabricate complex 3D objects transformable by external stimuli.

Fluid-driven Hydrogel Actuators with an Origami Structure

Owing to the innate good biocompatibility, tissue-like softness and other unique properties, hydrogels are of particular interest as promising compliant materials for biomimetic soft actuators. However, the actuation diversity of hydrogel actuators is always restricted by their structure design and fabrication methods. Herein, origami structures were introduced to the design of fluid-driven hydrogel actuators to achieve diverse actuation movements, and a facile fabrication strategy based on removable templates and inside-out diffusion-induced in situ hydrogel crosslinking was adopted. As a result, three types of modular cuboid actuator units (CAUs) achieved linear motion, bending, and twisting. Moreover, combinations of multiple CAUs achieved different actuation modes, including actuation decoupling, superposition, and reprogramming. The diverse actuation functionality would enable new possibilities in application fields for hydrogel soft actuators. Several simple application demos, such as grippers for grasping tasks and a multi-way circuit switch, demonstrated their potential for further applications.

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Origami structures were introduced to fluid-driven hydrogel actuators

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Three types of cuboid actuator units (CAUs) achieved linear motion, bending, and twisting

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A fabrication strategy was based on removable templates and in situ formation

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Combinations of multiple CAUs achieved different actuation modes

Recent Advances in Design Strategies of Tough Hydrogels

Hydrogels are a fascinating class of materials popular in numerous fields, including tissue engineering, drug delivery, soft robotics, and sensors, attributed to their 3D network porous structure containing a significant amount of water. However, traditional hydrogels exhibit poor mechanical strength, limiting their practical applications. Thus, many researchers have focused on the development of mechanically enhanced hydrogels. This review describes the design considerations for constructing tough hydrogels and some of the latest strategies in recent years. These tough hydrogels have an up-and-coming prospect and bring great hope to the fields of biomedicine and others. Nonetheless, it is still no small challenge to realize hydrogel materials that are tough, multifunctional, intelligent, and zero-defect. This article is protected by copyright. All rights reserved.

Strategies for interface issues and challenges of neural electrodes

Neural electrodes, as a bridge for bidirectional communication between the body and external devices, are crucial means for detecting and controlling nerve activity. The electrodes play a vital role in monitoring the state of neural systems or influencing it to treat disease or restore functions. To achieve high-resolution, safe and long-term stable nerve recording and stimulation, a neural electrode with excellent electrochemical performance (e.g., impedance, charge storage capacity, charge injection limit), and good biocompatibility and stability is required. Here, the charge transfer process in the tissues, the electrode-tissue interfaces and the electrode materials are discussed respectively. Subsequently, the latest research methods and strategies for improving the electrochemical performance and biocompatibility of neural electrodes are reviewed. Finally, the challenges in the development of neural electrodes are proposed. It is expected that the development of neural electrodes will offer new opportunities for the evolution of neural prosthesis, bioelectronic medicine, brain science, and so on.

Laser-Induced Graphene (LIG) as a Smart and Sustainable Material to Restrain Pandemics and Endemics: A Perspective

A healthy environment is necessary for a human being to survive. The contagious COVID-19 virus has disastrously contaminated the environment, leading to direct or indirect transmission. Therefore, the environment demands adequate prevention and control strategies at the beginning of the viral spread. Laser-induced graphene (LIG) is a three-dimensional carbon-based nanomaterial fabricated in a single step on a wide variety of low-cost to high-quality carbonaceous materials without using any additional chemicals potentially used for antiviral, antibacterial, and sensing applications. LIG has extraordinary properties, including high surface area, electrical and thermal conductivity, environmental-friendliness, easy fabrication, and patterning, making it a sustainable material for controlling SARS-CoV-2 or similar pandemic transmission through different sources. LIG's antiviral, antibacterial, and antibiofouling properties were mainly due to the thermal and electrical properties and texture derived from nanofibers and micropores. This perspective will highlight the conducted research and the future possibilities on LIG for its antimicrobial, antiviral, antibiofouling, and sensing applications. It will also manifest the idea of incorporating this sustainable material into different technologies like air purifiers, antiviral surfaces, wearable sensors, water filters, sludge treatment, and biosensing. It will pave a roadmap to explore this single-step fabrication technique of graphene to deal with pandemics and endemics in the coming future.

Recent and Future Strategies of Mechanotherapy for Tissue Regenerative Rehabilitation

Mechanotherapy, the application of various mechanical forces on injured or diseased tissue, is a viable option for tissue regenerative rehabilitation. Recent advances in tissue engineering (i.e., engineered materials and 3D printing) and soft-robotic technologies have enabled systematic and controlled studies to demonstrate the therapeutic impacts of mechanical stimulation on severely injured tissue. Along with innovation in actuation systems, improvements in analysis methods uncovering cellular and molecular landscapes during tissue regeneration under mechanical loading expand our understanding of how mechanical cues are translated into specific biological responses (i.e., stem cell self-renewal and differentiation, immune responses, etc.). Moving forward, the development of diversified actuation systems that are mechanically tissue friendly, easily scalable, and capable of delivering various modes of loading and monitoring functional biomarkers will facilitate systematic and controlled preclinical and clinical studies. Combining these future actuation systems with single-cell resolution analysis of cellular and molecular markers will enable detailed knowledge of underlying biological responses, and optimization of mechanotherapy protocols for specific tissues/injuries. These advancements will enable diverse mechanotherapy therapies in the future.

Controlling Properties and Functions of Polymer Gels Using Photochemical Reactions

Photoresponsive polymer gels have attracted increasing interest owing to their potential applications in healable materials, drug release systems, and extracellular matrices. Because polymer gels provide suitable environments for photochemical reactions, their properties and functions can be controlled with light with a high spatiotemporal resolution. Herein, the design of photoresponsive polymer gels based on different types of photochemical reactions is introduced. The mechanism and applications of irreversible photoreactions, such as photoinduced free-radical polymerization, photoinduced click reactions, and photolysis, as well as reversible photoreactions such as photoinduced reversible cycloadditions, reversible photosubstitution of metal complexes, and photoinduced metathesis are reviewed. The remaining challenges of photoresponsive polymer gels are also discussed.

Processing of Self-Healing Polymers for Soft Robotics

Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various formative and additive manufacturing methods have been exploited to shape self-healing polymers into complex structures. Additionally, several novel manufacturing techniques, noted as (re)assembly binding techniques that are specific to self-healing polymers, have been created. Herein, the wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly. Based on defined requirements for soft robots, these techniques are critically compared and validated. A strong focus is drawn to the reversible covalent and (physico)chemical cross-links present in the self-healing polymers that do not only endow healability to the resulting soft robotic components, but are also beneficial in many manufacturing techniques. They solve current obstacles in soft robots, including the formation of robust multi-material parts, recyclability, and stress relaxation. This review bridges two promising research fields, and guides the reader toward selecting a suitable processing method based on a self-healing polymer and the intended soft robotics application.

Shape-Changing Particles: From Materials Design and Mechanisms to Implementation

Demands for next-generation soft and responsive materials have sparked recent interest in the development of shape-changing particles and particle assemblies. Over the last two decades, a variety of mechanisms that drive shape change have been explored and integrated into particulate systems. Through a combination of top-down fabrication and bottom-up synthesis techniques, shape-morphing capabilities extend from the microscale to the nanoscale. Consequently, shape-morphing particles are rapidly emerging in a variety of contexts, including photonics, microfluidics, microrobotics, and biomedicine. Herein, the key mechanisms and materials that facilitate shape changes of microscale and nanoscale particles are discussed. Recent progress in the applications made possible by these particles is summarized, and perspectives on their promise and key open challenges in the field are discussed.

Temperature Dependence of Polymer Network Diffusion

The swelling dynamics of polymer gels are characterized by the (collective) diffusion coefficient D of the polymer network. Here, we measure the temperature dependence of D of polymer gels with controlled homogeneous network structures using dynamic light scattering. An evaluation of the diffusion coefficient at the gelation point D_{gel} and the increase therein as the gelation proceeds ΔD≡D-D_{gel} indicates that ΔD is a linear function of the absolute temperature with a significantly large negative constant term. This feature is formally identical to the recently discovered "negative energy elasticity" [Y. Yoshikawa et al. Phys. Rev. X 11, 011045 (2021)PRXHAE2160-330810.1103/PhysRevX.11.011045], demonstrating a nontrivial similarity between the statics and dynamics of polymer networks.

Two-Photon Polymerization of Albumin Hydrogel Nanowires Strengthened with Graphene Oxide

Multifunctional biomaterials can pave a way to novel types of micro- and nanoelectromechanical systems providing benefits in mimicking of biological functions in implantable, wearable structures. The production of biocomposites that hold both superior electrical and mechanical properties is still a challenging task. In this study, we aim to fabricate 3D printed hydrogel from a biocomposite of bovine serum albumin with graphene oxide (BSA@GO) using femtosecond laser processing. We have developed the method for functional BSA@GO composite nanostructuring based on both two-photon polymerization of nanofilaments and direct laser writing. The atomic-force microscopy was used to probe local electrical and mechanical properties of hydrogel BSA@GO nanowires. The improved local mechanical properties demonstrate synergistic effect in interaction of femtosecond laser pulses and novel composite structure.

Dual Properties of Polyvinyl Alcohol-Based Magnetorheological Plastomer with Different Ratio of DMSO/Water

Polyvinyl alcohol (PVA)-based magnetorheological plastomer (MRP) possesses excellent magnetically dependent mechanical properties such as the magnetorheological effect (MR effect) when exposed to an external magnetic field. PVA-based MRP also shows a shear stiffening (ST) effect, which is very beneficial in fabricating pressure sensor. Thus, it can automatically respond to external stimuli such as shear force without the magnetic field. The dual properties of PVA-based MRP mainly on the ST and MR effect are rarely reported. Therefore, this work empirically investigates the dual properties of this smart material under the influence of different solvent compositions (20:80, 40:60, 60:40, and 80:20) by varying the ratios of binary solvent mixture (dimethyl sulfoxide (DMSO) to water). Upon applying a shear stress with excitation frequencies from 0.01 to 10 Hz, the storage modulus (G′) for PVA-based MRP with DMSO to water ratio of 20:40 increases from 6.62 × 10⁻⁵ to 0.035 MPa. This result demonstrates an excellent ST effect with the relative shear stiffening effect (RSTE) up to 52,827%. In addition, both the ST and MR effect show a downward trend with increasing DMSO content to water. Notably, the physical state of hydrogel MRP could be changed with different solvent ratios either in the liquid-like or solid-like state. On the other hand, a transient stepwise experiment showed that the solvent’s composition had a positive effect on the arrangement of CIPs within the matrix as a function of the external magnetic field. Therefore, the solvent ratio (DMSO/water) can influence both ST and MR effects of hydrogel MRP, which need to be emphasized in the fabrication of hydrogel MRP for appropriate applications primarily with soft sensors and actuators for dynamic motion control.

Skin-like hydrogel devices for wearable sensing, soft robotics and beyond

Skin-like electronics are developing rapidly to realize a variety of applications such as wearable sensing and soft robotics. Hydrogels, as soft biomaterials, have been studied intensively for skin-like electronic utilities due to their unique features such as softness, wetness, biocompatibility and ionic sensing capability. These features could potentially blur the gap between soft biological systems and hard artificial machines. However, the development of skin-like hydrogel devices is still in its infancy and faces challenges including limited functionality, low ambient stability, poor surface adhesion, and relatively high power consumption (as ionic sensors). This review aims to summarize current development of skin-inspired hydrogel devices to address these challenges. We first conduct an overview of hydrogels and existing strategies to increase their toughness and conductivity. Next, we describe current approaches to leverage hydrogel devices with advanced merits including anti-dehydration, anti-freezing, and adhesion. Thereafter, we highlight state-of-the-art skin-like hydrogel devices for applications including wearable electronics, soft robotics, and energy harvesting. Finally, we conclude and outline the future trends.

Enhanced wound healing properties of guar gum/curcumin-stabilized silver nanoparticle hydrogels

Biocompatible materials that act as scaffolds for regenerative medicine are of enormous interest. Hydrogel-nanoparticle composites have great potential in this regard, however evaluations of their wound healing and safety in vivo in animal studies are scarce. Here we demonstrate that a guar gum/curcumin-stabilized silver nanoparticle hydrogel composite is an injectable material with exceptional wound healing and antibacterial properties. We show that the curcumin-bound silver nanoparticles themselves exhibit low cytotoxicity and enhance proliferation, migration, and collagen production in in vitro studies of human dermal fibroblasts. We then show that the hydrogel-nanoparticle composite promotes wound healing in in vivo studies on rats, accelerating wound closure by > 40% and reducing bacterial counts by 60% compared to commercial antibacterial gels. Histopathology indicates that the hydrogel composite enhances transition from the inflammation to proliferation stage of healing, promoting the formation of fibroblasts and new blood vessels, while target gene expression studies confirm that the accelerated tissue remodeling occurs along the normal pathways. As such these hydrogel composites show great promise as wound dressing materials with high antibacterial capacity.

Hydrogels Classification According to the Physical or Chemical Interactions and as Stimuli-Sensitive Materials

Hydrogels are attractive biomaterials with favorable characteristics due to their water uptake capacity. However, hydrogel properties are determined by the cross-linking degree and nature, the tacticity, and the crystallinity of the polymer. These biomaterials can be sorted out according to the internal structure and by their response to external factors. In this case, the internal interaction can be reversible when the internal chains are led by physicochemical interactions. These physical hydrogels can be synthesized through several techniques such as crystallization, amphiphilic copolymers, charge interactions, hydrogen bonds, stereo-complexing, and protein interactions. In contrast, the internal interaction can be irreversible through covalent cross-linking. Synthesized hydrogels by chemical interactions present a high cross-linking density and are employed using graft copolymerization, reactive functional groups, and enzymatic methods. Moreover, specific smart hydrogels have also been denoted by their external response, pH, temperature, electric, light, and enzyme. This review deeply details the type of hydrogel, either the internal structure or the external response. Furthermore, we detail some of the main applications of these hydrogels in the biomedicine field, such as drug delivery systems, scaffolds for tissue engineering, actuators, biosensors, and many other applications.

MechAnalyze: An Algorithm for Standardization and Automation of Compression Test Analysis

The mechanical properties of hydrogels, as well as native and engineered tissues are key parameters frequently assessed in biomaterial science and tissue engineering research. However, a lack of standardized methods and user-independent data analysis has impacted the research community for many decades and contributes to poor reproducibility and comparability of datasets, representing a significant issue often neglected in publications. In this study, we provide a software package, MechAnalyze, facilitating the standardized and automated analysis of force-displacement data generated in unconfined compression tests. Using comparative studies of datasets analyzed manually and with MechAnalyze, we demonstrate that the software reliably determines the compressive moduli, failure stress and failure strain of hydrogels, as well as engineered and native tissues, while providing an intuitive user interface that requires minimal user input. MechAnalyze provides a fast and user-independent data analysis method and advances process standardization, reproducibility, and comparability of data for the mechanical characterization of biomaterials as well as native and engineered tissues. Impact statement Mechanical properties of hydrogels are crucial parameters in the development of new materials for tissue engineering. However, manual assessment is tedious, not standardized and suffers under user-to-user bias. Hence, the here presented stand-alone software package provides analysis and statistics of force-displacement and material geometry data to determine the compressive moduli, failure stress, and failure strain in a standardized, robust, and automated fashion. MechAnalyze will substantially support biomechanical testing of hydrogels as well as engineered and native tissues and will thus, be of appreciable value to a broad target group in regenerative medicine, tissue engineering, but also life sciences and biomedicine.

Thermo-Responsive Hydrogel-Based Soft Valves with Annular Actuation Calibration and Circumferential Gripping

Valves are largely useful for treatment assistance devices, e.g., supporting fluid circulation movement in the human body. However, the valves presently used in biomedical applications still use materials that are rigid, non-compliant, and hard to integrate with human tissues. Here, we propose biologically-inspired, stimuli-responsive valves and evaluate N-Isopropylacrylamide hydrogels-based valve (NPHV) and PAAm-alginate hydrogels-based valve (PAHV) performances with different chemical syntheses for optimizing better valve action. Once heated at 40 ∘C, the NPHV outperforms the PAHV in annular actuation (NPHV: 1.93 mm displacement in 4 min; PAHV: 0.8 mm displacement in 30 min). In contrast, the PAHV exhibits a flow rate change of up to 20%, and a payload of 100% when the object is at 100 ∘C. The PAHV demonstrated a completely soft, stretchable circular gripper with a high load-to-weight ratio for diversified applications. These valves are fabricated with a simple one-pot method that, once further optimized, can offer transdisciplinary applications.

Polyelectrolyte Gels: Fundamentals, Fabrication and Applications

Polyelectrolyte gels are an important class of polymer gels and a versatile platform with charged polymer networks with ionisable groups. They have drawn significant recent attention as a class of smart material and have demonstrated potential for a variety of applications. This review begins with the fundamentals of polyelectrolyte gels, which encompass various classifications (i.e., origin, charge, shape) and crucial aspects (ionic conductivity and stimuli responsiveness). It further centralises recent developments of polyelectrolyte gels, emphasising their synthesis, structure-property relationships and responsive properties. Sequentially, this review demonstrates how polyelectrolyte gels' flourishing properties create attractiveness to a range of applications including tissue engineering, drug delivery, actuators and bioelectronics. Finally, the review outlines the indisputable appeal, further improvements and emerging trends in polyelectrolyte gels.

The effects of surface topography modification on hydrogel properties

Hydrogel has been an attractive biomaterial for tissue engineering, drug delivery, wound healing, and contact lens materials, due to its outstanding properties, including high water content, transparency, biocompatibility, tissue mechanical matching, and low toxicity. As hydrogel commonly possesses high surface hydrophilicity, chemical modifications have been applied to achieve the optimal surface properties to improve the performance of hydrogels for specific applications. Ideally, the effects of surface modifications would be stable, and the modification would not affect the inherent hydrogel properties. In recent years, a new type of surface modification has been discovered to be able to alter hydrogel properties by physically patterning the hydrogel surfaces with topographies. Such physical patterning methods can also affect hydrogel surface chemical properties, such as protein adsorption, microbial adhesion, and cell response. This review will first summarize the works on developing hydrogel surface patterning methods. The influence of surface topography on interfacial energy and the subsequent effects on protein adsorption, microbial, and cell interactions with patterned hydrogel, with specific examples in biomedical applications, will be discussed. Finally, current problems and future challenges on topographical modification of hydrogels will also be discussed.

Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators

Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft gripper. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.

Magnetic Dynamic Polymers for Modular Assembling and Reconfigurable Morphing Architectures

Shape-morphing magnetic soft materials, composed of magnetic particles in a soft polymer matrix, can transform shape reversibly, remotely, and rapidly, finding diverse applications in actuators, soft robotics, and biomedical devices. To achieve on-demand and sophisticated shape morphing, the manufacture of structures with complex geometry and magnetization distribution is highly desired. Here, a magnetic dynamic polymer (MDP) composite composed of hard-magnetic microparticles in a dynamic polymer network with thermally responsive reversible linkages, which permits functionalities including targeted welding for magnetic-assisted assembly, magnetization reprogramming, and permanent structural reconfiguration, is reported. These functions not only provide highly desirable structural and material programmability and reprogrammability but also enable the manufacturing of functional soft architected materials such as 3D kirigami with complex magnetization distribution. The welding of magnetic-assisted modular assembly can be further combined with magnetization reprogramming and permanent reshaping capabilities for programmable and reconfigurable architectures and morphing structures. The reported MDP are anticipated to provide a new paradigm for the design and manufacture of future multifunctional assemblies and reconfigurable morphing architectures and devices.

Hydrogels in Electrophoresis: Applications and Advances

A hydrogel is a solid form of polymer network absorbed in a substantial amount of aqueous solution. In electrophoresis, hydrogels play versatile roles including as support media, sieving matrixes, affinity scaffolds, and compositions of molecularly imprinting polymers. Recently, the study of hydrogels has been advancing with unprecedented speed, and the application of hydrogels in separation science has brought new opportunities and possible breakthroughs. A good understanding about the roles and effects of the material is essential for hydrogel applications. This review summarizes the hydrogels that has been described in various modes of electrophoretic separations, including isoelectric focusing gel electrophoresis (IEFGE), isotachophoresis (ITP), gel electrophoresis and affinity gel electrophoresis (AGE). As microchip electrophoresis (ME) is one of the future trends in electrophoresis, thought provoking studies related to hydrogels in ME are also introduced. Novel hydrogels and methods that improve separation performance, facilitate the experimental operation process, allow for rapid analysis, and promote the integration to microfluidic devices are highlighted.

Printable homocomposite hydrogels with synergistically reinforced molecular-colloidal networks

The design of hydrogels where multiple interpenetrating networks enable enhanced mechanical properties can broaden their field of application in biomedical materials, 3D printing, and soft robotics. We report a class of self-reinforced homocomposite hydrogels (HHGs) comprised of interpenetrating networks of multiscale hierarchy. A molecular alginate gel is reinforced by a colloidal network of hierarchically branched alginate soft dendritic colloids (SDCs). The reinforcement of the molecular gel with the nanofibrillar SDC network of the same biopolymer results in a remarkable increase of the HHG’s mechanical properties. The viscoelastic HHGs show >3× larger storage modulus and >4× larger Young’s modulus than either constitutive network at the same concentration. Such synergistically enforced colloidal-molecular HHGs open up numerous opportunities for formulation of biocompatible gels with robust structure-property relationships. Balance of the ratio of their precursors facilitates precise control of the yield stress and rate of self-reinforcement, enabling efficient extrusion 3D printing of HHGs.

Composites which are made up of a single polymer, and yet allow modulation of the mechanical properties of the matrix without stress concentration, are challenging to fabricate. Here, the authors design a selfreinforced homocomposite alginate hydrogel with enhanced mechanical properties incorporating soft dendritic alginate colloids in the matrix and demonstrate its application in extrusion printing.

NIR-vis-UV Light-Responsive High Stress-Generating Polymer Actuators with a Reduced Creep Rate

Untethered, light-responsive, high-stress-generating actuators based on widely-used commercial polymers are appealing for applications in soft robotics. However, the construction of actuators that are stable and reversibly responsive to low-intensity ultraviolet, visible, and infrared lights remains challenging. Here, transparent, stress-generating actuators are reported based on ultradrawn, ultrahigh molecular weight polyethylene films. The composite films have different draw ratios (30, 70, and 100) and contain a small amount of graphene in combination with ultraviolet and near-infrared-absorbing dyes. The composite actuators respond rapidly (t_0.9 < 0.8 s) to different wavelengths of light (i.e., 780, 455, and 365 nm). A maximum photoinduced stress of 35 MPa is achieved at a draw ratio of 70 under near-infrared light irradiation. The photoinduced stress increases linearly with the light intensity, indicating the transfer of light into thermally induced mechanical contraction. Moreover, the addition of additives lead to a reduction in the plastic creep rate of the drawn films compared to their nonmodified counterparts.