Photo-steered rapid and multimodal locomotion of 3D-printed tough hydrogel robots

Hydrogels are an ideal material to develop soft robots. However, it remains a grand challenge to develop miniaturized hydrogel robots with mechanical robustness, rapid actuation, and multi-gait motions. Reported here is a facile strategy to fabricate hydrogel-based soft robots by three-dimensional (3D) printing of responsive and nonresponsive tough gels for programmed morphing and locomotion upon stimulations. Highly viscoelastic poly(acrylic acid-co-acrylamide) and poly(acrylic acid-co-N-isopropyl acrylamide) aqueous solutions, as well as their mixtures, are printed with multiple nozzles into 3D constructs followed by incubation in a solution of zirconium ions to form robust carboxyl-Zr4+ coordination complexes, to produce tough metallo-supramolecular hydrogel fibers. Gold nanorods are incorporated into ink to afford printed gels with response to light. Owing to the mechanical excellence and small diameter of gel fibers, the printed hydrogel robots exhibit high robustness, fast response, and agile motions when remotely steered by dynamic light. The design of printed constructs and steering with spatiotemporal light allow for multimodal motions with programmable trajectories of the gel robots. The hydrogel robots can walk, turn, flip, and transport cargos upon light stimulations. Such printed hydrogels with good mechanical performances, fast response, and agile locomotion may open opportunities for soft robots in biomedical and engineering fields.

Reversible Snapping of Constrained Anisotropic Hydrogels Upon Light Stimulations

Creatures, such as Venus flytrap and hummingbirds, capable of rapid predation through snap-through transition, provide paradigms for the design of soft actuators and robots with fast actions. However, these artificial "snappers" usually need contact stimulations to trigger the flipping. Reported here is a constrained anisotropic poly(N-isopropylacrylamide) hydrogel showing fast snapping upon light stimulation. This hydrogel is prepared by flow-induced orientation of nanosheets (NSs) within a rectangular tube. The precursor containing gold nanoparticles is immediately exposed to UV light for photopolymerization to fix the ordered structure of NSs. Two ends of the slender gel are clamped to form a buckle with bistability nature, which snaps to the other side upon laser irradiation. Systematic experiments are conducted to investigate the influences of power intensity and irradiation angle of the laser, as well as thickness and buckle height of the gel, on the snapping behaviors. The fast snapping is further used to kick a plastic bead and control the switch state. Furthermore, synergetic or oscillated snapping of the gel with two buckles of opposite directions is realized by inclined irradiation of a laser or horizontal irradiation with two lasers, respectively. Such light-steered snapping of hydrogels should merit designing soft robots, energy harvests, etc.

Closed Twisted Hydrogel Ribbons with Self-Sustained Motions under Static Light Irradiation

Self-sustained motions are widespread in biological systems by harvesting energy from surrounding environments, which inspire scientists to develop autonomous soft robots. However, most-existing soft robots require dynamic heterogeneous stimuli or complex fabrication with different components. Recently, control of topological geometry has been promising to afford soft robots with physical intelligence and thus life-like motions. Reported here are a series of closed twisted ribbon robots, which exhibit self-sustained flipping and rotation under constant light irradiation. Both Möbius strip and Seifert ribbon robots are devised for the first time by using an identical hydrogel, which responds to light irradiation on either side. Experiment and simulation results indicate that the self-regulated motions of the hydrogel robots are related to fast and reversible response of muscle-like gel, self-shadowing effect, and topology-facilitated refresh of light-exposed regions. The motion speeds and directions of the hydrogel robots can be tuned over a wide range. These closed twisted ribbon hydrogels are further applied to execute specific tasks in aqueous environments, such as collecting plastic balls, climbing a vertical rod, and transporting objects. This work presents new design principle for autonomous hydrogel robots by benefiting from material response and topology geometry, which may be inspirative for the robotics community.

Animating hydrogel knotbots with topology-invoked self-regulation

Steering soft robots in a self-regulated manner remains a grand challenge, which often requires continuous symmetry breaking and recovery steps for persistent motion. Although structural morphology is found significant for robotic functions, geometric topology has rarely been considered and appreciated. Here we demonstrate a series of knotbots, namely hydrogel-based robots with knotted structures, capable of autonomous rolling and spinning/rotating motions. With symmetry broken by external stimuli and restored by self-regulation, the coupling between self-constraint-induced prestress and photothermal strain animates the knotbots continuously. Experiments and simulations reveal that nonequilibrium processes are regulated dynamically and cooperatively by self-constraints, active deformations, and self-shadowing effect of the photo-responsive gel. The active motions enable the knotbots to execute tasks including gear rotation and rod climbing. This work paves the way to devise advanced soft robots with self-regulated sustainable motions by harnessing the topology.

Ultra-stretchable and conductive polyacrylamide/carboxymethyl chitosan composite hydrogels with low modulus and fast self-recoverability as flexible strain sensors

There is a great demand for the fabrication of soft electronics using hydrogels due to their biomimetic structures and good flexibility. However, conventional hydrogels have poor mechanical properties, which restricts their applications as stretchable sensors. Herein, a facile one-step strategy is proposed to fabricate tough and conductive hydrogels by making use of the graftability of carboxymethyl chitosan without extra conductive matter and crosslinking agent. The obtained polyacrylamide/carboxymethyl chitosan composite hydrogels possess outstanding transmittance and excellent mechanical performances, with tensile breaking stress of 630 kPa, breaking strain of 4560 %, toughness of 8490 kJ/m3. These hydrogels have low modulus of 5-20 kPa, fast recoverability after unloading, high conductivity of ∼0.85 S/m without the addition of other conductive substances and good biocompatibility. The ionic conductivity of the gels originates from the counterions of carboxymethyl chitosan, affording the hydrogels as resistive-type sensors. The resultant hydrogel sensors demonstrate a broad strain window (0.12-1500 %), excellent linear response, high sensitivity with the gauge factor reaching 11.72, and great durability, capable of monitoring diverse human motions. This work provides a new strategy to develop stretchable conductive hydrogels with promising applications in the fields of artificial intelligence and flexible electronics.

Intrinsic Anti-Freezing and Unique Phosphorescence of Glassy Hydrogels with Ultrahigh Stiffness and Toughness at Low Temperatures

Most hydrogels become frozen at subzero temperatures, leading to degraded properties and limited applications. Cryoprotectants are massively employed to improve anti-freezing property of hydrogels; however, there are accompanied disadvantages, such as varied networks, reduced mechanical properties, and the risk of cryoprotectant leakage in aqueous conditions. Reported here is the glassy hydrogel having intrinsic anti-freezing capacity and excellent optical and mechanical properties at ultra-low temperatures. Supramolecular hydrogel of poly(acrylamide-co-methacrylic acid) with moderate water content (≈50 wt.%) and dense hydrogen-bond associations is in a glassy state at room temperature. Since hydrogen bonds become strengthened as the temperature decreases, this gel becomes stronger and stiffer, yet still ductile, with Young's modulus of 900 MPa, tensile strength of 30 MPa, and breaking strain of 35% at -45 °C. This gel retains high transparency even in liquid nitrogen. It also exhibits unique phosphorescence due to presence of carbonyl clusters, which is further enhanced at subzero temperatures. Further investigations elucidate that the intrinsic anti-freezing property is related to a fact that most water molecules are tightly bound and confined in the glassy matrix and become non-freezable. This correlation, as validated in several systems, provides a roadmap to develop intrinsic anti-freezing hydrogels for widespread applications at extreme conditions.

Toughening Hydrogels by forming Robust Hydrazide-transition Metal Coordination Complexes

Energy dissipation based on dynamic fracture of metal ligands is one of effective means to toughen hydrogel materials for specific applications in biomedical and engineering fields. Exploration of new kinds of metal-ligand coordinates with robust bonding strength is crucial for the facile synthesis of tough gels. Reported here is a hydrogel toughening strategy based on the formation of robust coordination complexes between the hydrazide ligands and zinc ions. The resultant hydrogels exhibit high strength and toughness at room temperature. Their mechanical properties show temperature dependence due to the dynamic nature of coordination bonds. In addition, the amine group of hydrazides in the gel matrix provides reactive site for Schiff's base reaction, enabling surface modification without influence on overall mechanical performances of the gel. The hydrazide ligands are easy-synthesis and can form robust coordination with several transition metals. Such metal-ligand coordinates should be suitable to other systems to develop tough soft materials with versatile applications.

Bistable Joints Enable the Morphing of Hydrogel Sheets with Multistable Configurations

Joints, as a flexing element to connect different parts, are widespread in natural systems. Various joints exist in the body and play crucial roles to execute gestures and gaits. These scenarios have inspired the design of mechanical joints with passive, hard materials, which usually need an external power supply to drive the transformations. The incorporation of soft and active joints provides a modular strategy to devise soft actuators and robots. However, transformations of responsive joints under external stimuli are usually in uni-mode with a pre-determined direction. Here, hydrogel joints capable of folding and twisting transformation in bi-mode are reported, which enable the composite hydrogel to form multiple configurations under constant conditions. These joints have an in-plane gradient structure and comprise stiff, passive gel as the frame and soft, active gel as the actuating unit. Under external stimuli, the response mismatch between different gels leads to out-of-plane folding or twisting deformation with the feature of bistability. These joints can be modularly integrated with other gels to afford complex deformations and multistable configurations. This approach favors selective control of hydrogel's architectures and versatile design of hydrogel devices, as demonstrated by proof-of-concept examples. It shall also merit the development of metamaterials, soft actuators, and robots, etc.

Polymerization-Induced Crystallization of Dopant Molecules: An Efficient Strategy for Room-Temperature Phosphorescence of Hydrogels

Conventional hydrogels such as polyacrylamide and polyacrylic acid ones seldom exhibit phosphorescences at ambient conditions, which limit their applications as optical materials. We propose and demonstrate here a facile strategy to afford these hydrogels with room-temperature phosphorescence by polymerization-induced crystallization of dopant molecules that results in segregation and confinement of the gel matrix with carbonyl groups and thus clusterization-induced phosphorescence. As a model system, crown ethers (CEs) are dissolved in an aqueous solution of concentrated acrylamide that greatly increases the solubility of CEs. During the polymerization process, CEs crystallize to form large spherulites in the polyacrylamide hydrogel. The crystallization arises from the drastically reduced solubility of CEs after the conversion of monomers to polymers during the gel synthesis. The resultant composite hydrogel with a water content of 67 wt % exhibits extraordinary phosphorescence behavior yet maintains good stretchability and resilience. We found that the partial gel matrix is squeezed and confined by in situ-formed crystals, leading to carbonyl clusters and thus phosphorescence emission. The composite gel shows green phosphorescence with an emission peak at 512 nm and a lifetime of 342 ms. The afterglow emission is detectable by the naked eye for several seconds. This strategy has good universality, as validated in other hydrogels with different polymeric matrices and dopant molecules. The development of hydrogels with good mechanical and phosphorescent properties should merit the design of multifunctional soft machines with applications in biomedical and engineering fields.

Engineering viscoelastic mismatch for temporal morphing of tough supramolecular hydrogels

Viscoelasticity is a generic characteristic of soft biotissues and polymeric materials, endowing them with unique time- and rate-dependent properties. Here, by spatiotemporally tailoring the viscoelasticity in tough supramolecular hydrogels, we demonstrate reprogrammable morphing of the gels based on differential viscoelastic recovery processes that lead to internal strain mismatch. The spatial heterogeneity of viscoelasticity is encoded through integrating dissimilar hydrogels or by site-specific treatment of a singular hydrogel. The temporal morphing behavior of tough gels, including a fast deformation process and then a slow shape-recovery process, is related to the kinetics of associative interactions and the entropic elasticity of supramolecular networks after pre-stretching and release, which takes place spontaneously in the absence of external stimuli. Such a kinetically driven morphing mechanism resolves the trade-off between the mechanical robustness and shape-changing speed in tough hydrogels with dense entanglements and physical associations, and should be applicable to other viscoelastic materials. A numerical theory for the temporal morphing of tough supramolecular gels has been formulated by dynamic coupling of viscoelastic recovery and mechanics of deformations, which is further implemented to predict the sophisticated morphed structures. Furthermore, magnetic particles are incorporated into the morphed tough hydrogels to devise versatile soft actuators and robots for specific applications.

Manta Ray Inspired Soft Robot Fish with Tough Hydrogels as Structural Elements

The design of soft robots capable of navigation underwater has received tremendous research interest due to the robots' versatile applications in marine explorations. Inspired by marine animals such as jellyfish, scientists have developed various soft robotic fishes by using elastomers as the major material. However, elastomers have a hydrophobic network without embedded water, which is different from the gel-state body of the prototypes and results in high contrast to the surrounding environment and thus poor acoustic stealth. Here, we demonstrate a manta ray-inspired soft robot fish with tailored swimming motions by using tough and stiff hydrogels as the structural elements, as well as a dielectric elastomer as the actuating unit. The switching between actuated and relaxed states of this unit under wired power leads to the flapping of the pectoral fins and swimming of the gel fish. This robot fish has good stability and swims with a fast speed (∼10 cm/s) in freshwater and seawater over a wide temperature range (4-50 °C). The high water content (i.e., ∼70 wt %) of the robot fish affords good optical and acoustic stealth properties under water. The excellent mechanical properties of the gels also enable easy integration of other functional units/systems with the robot fish. As proof-of-concept examples, a temperature sensing system and a soft gripper are assembled, allowing the robot fish to monitor the local temperature, raise warning signals by lighting, and grab and transport an object on demand. Such a robot fish should find applications in environmental detection and execution tasks under water. This work should also be informative for the design of other soft actuators and robots with tough hydrogels as the building blocks.

Magneto-Orientation of Magnetic Double Stacks for Patterned Anisotropic Hydrogels with Multiple Responses and Modulable Motions

Reported here is a multi-response anisotropic poly(N-isopropylacrylamide) hydrogel developed by using a rotating magnetic field to align magnetic double stacks (MDSs) that are fixed by polymerization. The magneto-orientation of MDSs originates from the unique structure with γ-Fe₂ O₃ nanoparticles sandwiched by two silicate nanosheets. The resultant gels not only exhibit anisotropic optical and mechanical properties but also show anisotropic responses to temperature and light. Gels with complex ordered structures of MDSs are further devised by multi-step magnetic orientation and photolithographic polymerization. These gels show varied birefringence patterns with potentials as information materials, and can deform into specific configurations upon stimulations. Multi-gait motions are further realized in the patterned gel through dynamic deformation under spatiotemporal light and friction regulation by imposed magnetic force. The magneto-orientation assisted fabrication of hydrogels with anisotropic structures and additional functions should bring opportunities for gel materials in biomedical devices, soft actuators/robots, etc.

Digital Light Processing 3D Printing of Tough Supramolecular Hydrogels with Sophisticated Architectures as Impact-Absorption Elements

Processing tough hydrogels into sophisticated architectures is crucial for their applications as structural elements. However, Digital Light Processing (DLP) printing of tough hydrogels is challenging because of the low-speed gelation and toughening process. Described here is a simple yet versatile system suitable for DLP printing to form tough hydrogel architectures. The aqueous precursor consists of commercial photoinitiator, acrylic acid, and zirconium ion (Zr⁴⁺ ), readily forming tough metallo-supramolecular hydrogel under digital light because of in situ formation of carboxyl-Zr⁴⁺ coordination complexes. The high-stiffness and antiswelling properties of as-printed gel enable high-efficiency printing to form high-fidelity constructs. Furthermore, swelling-induced morphing of the gel is also achieved by encoding structure gradients during the printing with grayscale digital light. Mechanical properties of the printed hydrogels are further improved after incubation in water due to the variation of local pH and rearrangement of coordination complex. The swelling-enhanced stiffness affords the printed hydrogel with shape fixation ability after manual deformations, and thereby provides an additional avenue to form more complex configurations. These printed hydrogels are used to devise an impact-absorption element or a high-sensitivity pressure sensor as proof-of-concept examples. This work should merit engineering of other tough gels and extend their scope of applications in diverse fields.

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.

Tough complex hydrogels transformed from highly swollen polyelectrolyte hydrogels based on Cu2+ coordination with anti-bacterial properties

The development of broad-spectrum anti-bacterial tough hydrogels without antibiotics remains a challenge in biomedical applications. In this study, we have synthesized a novel tough anti-bacterial complex hydrogel based on Cu²⁺ coordination. A swollen and weak poly(acrylamide-co-4-vinylbenzyl-(trihydroxymethyl-phosphonium)chloride) (P(AAm-co-VBzTHPC)) hydrogel was prepared by the radical copolymerization of AAm and VBzTHPC monomer solutions, followed by immersion in CuSO₄ solution to coordinate with Cu²⁺ to form a strong and tough hydrogel. Fourier transform infrared (FTIR) spectra and X-ray photoelectron spectra (XPS) were used to characterize the coordination structure between phosphorus and oxygen atoms in the VBzTHPC monomer and copper ions. The water content and mechanical properties of the obtained hydrogel varied with gel composition. The prepared toughened hydrogel exhibited excellent anti-bacterial performance because of the introduction of copper ion coordination and the slow release of copper ions, with bacterial viability of 5.1% when the mole fraction of VBzTHPC was 10 mol%. Cell viability when cocultured with the toughened hydrogel was above 85% using the Cell Counting Kit-8 (CCK-8) method, indicating the good biocompatibility of the hydrogel. Compared with the control group experiment in vivo, this tough hydrogel can also promote wound healing, making it a promising candidate for wound dressing.

Healable, Recyclable, and Multifunctional Soft Electronics Based on Biopolymer Hydrogel and Patterned Liquid Metal

Recent years have witnessed the rapid development of sustainable materials. Along this line, developing biodegradable or recyclable soft electronics is challenging yet important due to their versatile applications in biomedical devices, soft robots, and wearables. Although some degradable bulk hydrogels are directly used as the soft electronics, the sensing performances are usually limited due to the absence of distributed conducting circuits. Here, sustainable hydrogel-based soft electronics (HSE) are reported that integrate sensing elements and patterned liquid metal (LM) in the gelatin-alginate hybrid hydrogel. The biopolymer hydrogel is transparent, robust, resilient, and recyclable. The HSE is multifunctional; it can sense strain, temperature, heart rate (electrocardiogram), and pH. The strain sensing is sufficiently sensitive to detect a human pulse. In addition, the device serves as a model system for iontophoretic drug delivery by using patterned LM as the soft conductor and electrode. Noncontact detection of nearby objects is also achieved based on electrostatic-field-induced voltage. The LM and biopolymer hydrogel are healable, recyclable, and degradable, favoring sustainable applications and reconstruction of the device with new functions. Such HSE with multiple functions and favorable attributes should open opportunities in next-generation electronic skins and hydrogel machines.

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.

Multi-level encryption of information in morphing hydrogels with patterned fluorescence

Fluorescent hydrogels have attracted tremendous attention recently in the field of information security due to the booming development of information technology. Along this line, it is highly desired to improve the security level of concealed information by the advancements of materials and encryption technologies. Here we report multi-level encryption of information in a bilayer hydrogel with shape-morphing ability and patterned fluorescence. This hydrogel is composed of a fluorescence layer containing chromophore units in the poly(acrylic acid) network and an active layer with UV-absorption agents in the poly(N-isopropylacrylamide-co-acrylic acid) network. The former layer exhibits tunable fluorescence tailored by UV light irradiation to induce unimer-to-dimer transformation of the chromophores, facilitating the write-in of information through photolithography. The latter layer is responsive to temperature, enabling morphing of the bilayer hydrogel. Therefore, the bilayer hydrogel encoded with patterned fluorescent patterns can deform into three-dimensional configurations at room temperature to conceal the information, which is readable only after successive procedures of shape recovery at an appropriate temperature and under UV light irradiation from the right direction. The combination of morphing materials and patterned fluorescence as a new avenue to improve the encryption level of information should merit the design of other smart materials with integrated functions for specific applications.

Paper without a Trail: Time-Dependent Encryption using Pillar[5]arene-Based Host-Guest Invisible Ink

A stimuli-responsive invisible ink for time-dependent encryption of information is reported. Consisting of a pillar[5]arene-based supramolecular network grafted with spiropyran moieties, these materials display time-dependent photochromic behavior with tailorable fading rates. Ultraviolet (UV) light results in isomerization of the colorless spiropyran to the corresponding colored merocyanine, while visible light or heat causes the reverse isomerization with a rate that is dependent on the density of host-guest crosslinks. The kinetics of discoloration are a function of merocyanine aggregation, which becomes more pronounced as the host-guest crosslink density is increased, leading to a reduced conversion rate and slower time-dependent fading. The degree of crosslinking, and hence the fading rate, may be modulated via the addition of unbound pillar[5]arene host or nitrile guest as competitors. Time-dependent information encryption is enabled by combining selective placement of host and guest competitors and UV patterning. UV patterning provides an initially "false" image that does not reveal the desired information, and it is only after a given time that the encrypted data appears. This work provides a unique approach to enhance the security of information storage associated with offline portable data encryption.

3D printing of a tough double-network hydrogel and its use as a scaffold to construct a tissue-like hydrogel composite

To mimic biological tissues with high toughness such as cartilage, it is highly desired to fabricate stable and tough hydrogels with intricate shapes to act as a structural support. Extrusion-based 3D printing is a promising method to fabricate 3D scaffolds with various architectures; however, printing tough hydrogel structures with high fidelity and resolution is still a challenge. In this work, we adopt the fast sol-to-gel transition of κ-carrageenan in the solution of acrylamide upon cooling to fix the printed scaffolds and polymerize the precursor solution to form the second network. The printed constructs of κ-carrageenan/polyacrylamide double-network gels are toughened by soaking in an aqueous solution of zirconyl chloride to form coordination complexes between the Zr⁴⁺ ions and sulfate groups of κ-carrageenan. The obtained hydrogels are stable in water and possess good mechanical properties, with a tensile breaking stress of 1-2 MPa, breaking strain of 100-150%, and Young's modulus of 4-10 MPa. The printed grid can hold 150 times its own weight. 3D printed constructs with a high aspect ratio and shape fidelity are obtained by optimizing the printing parameters. Furthermore, a biomimetic strategy is applied to construct a hydrogel composite by filling the printed tough hydrogel scaffold with a cell-laden fibrin hydrogel as the soft substance. Chondrocytes in the hydrogel composite maintain high viability after cyclic compression, demonstrating the load-bearing capacity of the tough scaffold and favorable microenvironment for cells provided by the embedded soft fibrin gel. We envision that this printing strategy for hydrogel constructs with high toughness and good stability, as well as the method to form tough-soft hydrogel composites, can be extended to other systems to develop structural elements and scaffolds towards applications in biomedical devices and tissue engineering.

Dual Encryption of Digital Information in a Tough Fluorescent Hydrogel

Hydrogels capable of shape-morphing and/or fluorescence modulation have practical significances in the fields of anti-counterfeiting, while tough hydrogels with tunable fluorescence for multi-level encryptions have been rarely explored. Herein, we...

3D printing of tough hydrogels based on metal coordination with a two-step crosslinking strategy

We demonstrate the self-supporting 3D printing of complex hydrogel structures based on simultaneous crosslinking reaction while printing. The printing strategy is based on Schiff’s base reaction and metal coordination with...

Synergic influences of network topologies and associative interactions on the microstructures and bulk performances of hydrogels

Revealing the relationship between network topologies and mechanical properties of hydrogels is fundamental yet challenging in the design of tough soft materials. Here, we report a series of hydrogels using N-isopropyl acrylamide (NIPAm) and acrylic acid (AAc) as the basic units to form a single network of the copolymer, a semi-interpenetrated network of two homopolymers, and a grafted network with homopolymer chains anchored on another homopolymer network, to investigate the influence of network architectures on the mechanical properties and thermal responses of the gels. We found that the properties of the gels are also significantly influenced by the formation of hydrogen bonds between poly(N-isopropyl acrylamide) (PNIPAm) and poly(acrylic acid) (PAAc) segments. The gels with the single network of poly(NIPAm-co-AAc) are mechanically weak due to the low efficiency for forming robust hydrogen bonds, while micro-segregated domains are formed in the hydrogels with a semi-interpenetrated network structure due to the formation of inter-chain hydrogen bonds that favors energy dissipation and toughening of the gels. On the other hand, dense hydrogen bonds form between the grafted PNIPAm chains and the PAAc network, resulting in nano-segregated domains and excellent mechanical properties of the gels. The hydrogels with the grafted network structure exhibit a more repeatable response to temperature than those with the semi-interpenetrated network structure due to the relatively stable hydrogen-bond network. The comparison of the mechanical properties and thermal stability of the hydrogels with the same composition but different topological networks should be informative for engineering hydrogel properties or functions by tailoring the network structures.

Patterned Electrode Assisted One-Step Fabrication of Biomimetic Morphing Hydrogels with Sophisticated Anisotropic Structures

Anisotropic structures are ubiquitous in nature, affording fascinating morphing behaviors. Biomimetic morphing materials can be developed by spatially controlling the orientations of molecules or nanofillers that produce anisotropic responses and internal stresses under external stimuli. However, it remains a serious challenge to fabricate materials with sophisticated anisotropic architectures. Here, a facile strategy to fabricate morphing hydrogels with elaborately ordered structures of nanosheets, which are oriented under distributed electric field and immobilized by polymerization to form a poly(N-isopropylacrylamide) matrix, is proposed. Diverse sophisticated anisotropic structures are obtained by engineering the electric field through the patterns and relative locations of the electrodes. Upon heating, the monolithic hydrogels with through-thickness and/or in-plane gradients in orientation of the nanosheets deform into various three-dimensional configurations. After incorporating gold nanoparticles, the hydrogels become photoresponsive and capable of programmable motions, for example, dynamic twisting and flipping under spatiotemporal stimuli. Such a strategy of using patterned electrodes to generate distributed electric field should be applicable to systems of liquid crystals or charged particles/molecules to direct orientation or electrophoresis and form functional structures. The biomimetically architectured hydrogels would be ideal materials to develop artificial muscles, soft actuators/robots, and biomedical devices with versatile applications.

Engineering Tough Metallosupramolecular Hydrogel Films with Kirigami Structures for Compliant Soft Electronics

A simple and effective approach is demonstrated to fabricate tough metallosupramolecular hydrogel films of poly(acrylic acid) by one-pot photopolymerization of the precursor solution in the presence of Zr⁴⁺ ions that form coordination complexes with the carboxyl groups and serve as the physical crosslinks of the matrix. Both as-prepared and equilibrated hydrogel films are transparent, tough, and stable over a wide range of temperature, ionic strength, and pH. The thickness of the films can be easily tailored with minimum value of ≈7 μm. Owing to the fast polymerization and gelation process, kirigami structures can be facilely encoded to the gel films by photolithographic polymerization, affording versatile functions such as additional stretchability and better compliance of the planar films to encapsulate objects with sophisticated geometries that are important for the design of soft electronics. By stencil printing of liquid metal on the hydrogel film with a kirigami structure, the integrated soft electronics shows good compliance to cover curved surfaces and high sensitivity to monitor human motions. Furthermore, this strategy is applied to diverse natural and synthetic macromolecules containing carboxyl groups to develop tough hydrogel films, which will open opportunities for the applications of hydrogel films in biomedical and engineering fields.

Dual-Encryption in a Shape-Memory Hydrogel with Tunable Fluorescence and Reconfigurable Architecture

Materials capable of shape-morphing and/or fluorescence imaging have practical significances in the fields of anti-counterfeiting, information display, and information protection. However, it's challenging to realize these functions in hydrogels due to the poor mechanical properties and lack of tunable fluorescence. A tough hydrogel with good shape-memory ability and phototunable fluorescence is reported here, which affords reprogrammable shape designing and information encoding for dual-encryption. This hydrogel is prepared by incorporating donor-acceptor chromophore units into a poly(1-vinylimidazole-co-methacrylic acid) network, in which the dense intra- and interchain hydrogen bonds lead to desirable features including high stiffness, high toughness, and temperature-mediated shape-memory property. Additionally, the hydrogel shows photomediated tunable fluorescence through a unimer-to-dimer transformation of the chromophores. By combining photolithography and origami/kirigami designs, hydrogel sheets encoded with fluorescent patterns can deform into specific 3D configurations. The geometrically encrypted fluorescent information in the architected hydrogels is readable only after sequential shape recovery and UV light irradiation. As demonstrated by proof-of-concept experiments, both the fluorescent pattern and the 3D configuration are reprogrammable, facilitating repeated information protection and display. The design of tough hydrogels with rewritable fluorescent patterns and reconfigurable shapes should guide the future development of smart materials with improved security and wider applications in aqueous environments.

Reconstructable Gradient Structures and Reprogrammable 3D Deformations of Hydrogels with Coumarin Units as the Photolabile Crosslinks

Morphing hydrogels have versatile applications in soft robotics, flexible electronics, and biomedical devices. Controlling component distribution and internal stress within a hydrogel is crucial for shape-changing. However, existing gradient structures of hydrogels are usually non-reconstructable, once encoded by chemical reactions and covalent bonds. Fabricating hydrogels with distinct gradient structures is inevitable for every new configuration, resulting in poor reusability, adaptability, and sustainability that are disadvantageous for diverse applications. Herein, a hydrogel containing reversible photo-crosslinks that enable reprogramming of the gradient structures and 3D deformations into various configurations is reported. The hydrogel is prepared by micellar polymerization of hydrophobic coumarin monomer and hydrophilic acrylic acid. The presence of hexadecyltrimethylammonium chloride micelles increases the local concentration of coumarin units and also improves the mechanical properties of the hydrogel by forming robust polyelectrolyte/surfactant complexes that serve as the physical crosslinks. High-efficiency photodimerization and photocleavage reactions of coumarins are realized under 365 and 254 nm light irradiation, respectively, affording reversible tuning of the network structure of the hydrogel. Through photolithography, different gradient structures are sequentially patterned in one hydrogel that direct the deformations into distinct configurations. Such a strategy should be applicable for other photolabile hydrogels toward reprogrammable control of network structures and versatile functions.

Programmable Deformations of Biomimetic Composite Hydrogels Embedded with Printed Fibers

Shape deformations are prevalent in nature, which are closely related to the heterogeneous structures with a feature of fibrous elements embedded in a matrix. The microfibers with specific orientations act as either passive geometrical constraints in an active matrix or active elements in a passive matrix, which generate programmed internal stresses and drive shape morphing under external stimuli. Morphing materials can be designed in a biomimetic way, yet it is challenging to fabricate composite hydrogels with well-distributed fibers by a facile strategy. Here, we demonstrate the fabrication of microfiber-embedded hydrogels facilitated by the extrusion-based printing technology. Programmed deformations are achieved in these hydrogels with microfibers distributed in the upper and/or bottom layers of the gel matrix. Under external stimuli, the microfibers and the gel matrix have different responses that produce internal stresses and result in programmable deformations of the composite gel. Multiple shape transformations are realized in the hydrogel by embedding multiple types of responsive microfibers in the passive or active matrix, which is fabricated with the assistance of multinozzle printing. A soft hook is designed to show the capacity of the composite hydrogel to hold and move an object in a saline solution. This facile and versatile strategy provides an alternative way to prepare biomimetic hydrogels with potential applications in biomedical devices, flexible electronics, and soft robots.

Reversibly Transforming a Highly Swollen Polyelectrolyte Hydrogel to an Extremely Tough One and its Application as a Tubular Grasper

Poly(2-acrylamido-2-methyl-1-propanesulfonic acid) and its copolymer hydrogels are typical polyelectrolyte gels with extremely high swelling capacity that are widely used in industry. It's common to consider these hydrogels as weak materials that are difficult to toughen. Reported here is a facile strategy to transform swollen and weak poly(acrylamide-co-2-acrylamido-2-methyl-1-propanesulfonic acid) [P(AAm-co-AMPS)] hydrogels to tough ones by forming strong sulfonate-Zr⁴⁺ metal-coordination complexes. The resultant hydrogels with moderate water content possess high stiffness, strength, and fracture energy, which can be tuned over 3-4 orders of magnitude by controlling the composition and metal-to-ligand ratio. Owing to the dynamic nature of the coordination bonds, these hydrogels show rate- and temperature-dependent mechanical performances, as well as good self-recovery properties. This strategy is universal, as manifested by the drastically improved mechanical properties of hydrogels of various natural and synthetic sulfonate-containing polymers. The toughened hydrogels can be converted to the original swollen ones by breaking up the metal-coordination complexes in alkaline solutions. The reversible brittle-tough transition and concomitant dramatic volume change of polyelectrolyte hydrogels afford diverse applications, as demonstrated by the design of a tubular grasper with holding force a thousand times its own weight for objects with different geometries. It is envisioned that these hydrogels enable versatile applications in the biomedical and engineering fields.

Photoregulated Gradient Structure and Programmable Mechanical Performances of Tough Hydrogels with a Hydrogen-Bond Network

Gradient materials exist widely in natural living organisms, affording fascinating biological and mechanical properties. However, the synthetic gradient hydrogels are usually mechanically weak or only have relatively simple gradient structures. Here, we report on tough nanocomposite hydrogels with designable gradient network structure and mechanical properties by a facile post-photoregulation strategy. Poly(1-vinylimidazole-co-methacrylic acid) hydrogels containing gold nanorods (AuNRs) are in a glassy state and show typical yielding and forced elastic deformation at room temperature. The gel slightly contracts its volume when the temperature is above the glass-transition temperature that results in a collapse of the chain segments and formation of denser intra- and interchain hydrogen bonds. Consequently, the mechanical properties of the gels are enhanced, when the temperature returns to room temperature. The mechanical performances of hydrogels can also be locally tuned by near-infrared light irradiation due to the photothermal effect of AuNRs. Hydrogels with arbitrary two-dimensional gradients can be facilely developed by site-specific photoirradiation. The treated and untreated regions with different stiffness and yielding stress possess construct behaviors in stretching or twisting deformations. A locally reinforced hydrogel with the kirigami structure becomes notch-insensitive and exhibits improved strength and stretchability because the treated regions ahead the cuts have better resistance to crack advancement. These tough hydrogels with programmable gradient structure and mechanics should find applications as structural elements, biological devices, etc.

Distributed Electric Field Induces Orientations of Nanosheets to Prepare Hydrogels with Elaborate Ordered Structures and Programmed Deformations

Living organisms use musculatures with spatially distributed anisotropic structures to actuate deformations and locomotion with fascinating functions. Replicating such structural features in artificial materials is of great significance yet remains a big challenge. Here, a facile strategy is reported to fabricate hydrogels with elaborate ordered structures of nanosheets (NSs) oriented under a distributed electric field. Multiple electrodes are distributed with various arrangements in the precursor solution containing NSs and gold nanoparticles. A complex electric field induces sophisticated orientations of the NSs that are permanently inscribed by subsequent photo-polymerization. The resultant anisotropic nanocomposite poly(N-isopropylacrylamide) hydrogels exhibit rapid deformation upon heating or photoirradiation, owing to the fast switching of permittivity of the media and electric repulsion between the NSs. The complex alignments of NSs and anisotropic shape change of discrete regions result in programmed deformation of the hydrogels into various configurations. Furthermore, locomotion is realized by a spatiotemporal light stimulation that locally triggers time-variant shape change of the composite hydrogel with complex anisotropic structures. Such a strategy on the basis of the distributed electric-field-generated ordered structures should be applicable to gels, elastomers, and thermosets loaded with other anisotropic particles or liquid crystals, for the design of biomimetic/bioinspired materials with specific functionalities.

Light-steered locomotion of muscle-like hydrogel by self-coordinated shape change and friction modulation

Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated actuators to achieve similar purposes. Here we report a hydrogel-based, biomimetic soft robot capable of multimodal locomotion fueled and steered by light irradiation. A muscle-like poly(N-isopropylacrylamide) nanocomposite hydrogel is prepared by electrical orientation of nanosheets and subsequent gelation. Patterned anisotropic hydrogels are fabricated by multi-step electrical orientation and photolithographic polymerization, affording programmed deformations. Under light irradiation, the gold-nanoparticle-incorporated hydrogels undergo concurrent fast isochoric deformation and rapid increase in friction against a hydrophobic substrate. Versatile motion gaits including crawling, walking, and turning with controllable directions are realized in the soft robots by dynamic synergy of localized shape-changing and friction manipulation under spatiotemporal light stimuli. The principle and strategy should merit designing of continuum soft robots with biomimetic mechanisms.

Programmable Reversible Shape Transformation of Hydrogels Based on Transient Structural Anisotropy

Stimuli-responsive shape-transforming hydrogels have shown great potential toward various engineering applications including soft robotics and microfluidics. Despite significant progress in designing hydrogels with ever more sophisticated shape-morphing behaviors, an ultimate goal yet to be fulfilled is programmable reversible shape transformation. It is reported here that transient structural anisotropy can be programmed into copolymer hydrogels of N-isopropylacrylamide and stearyl acrylate. Structural anisotropy arises from the deformed hydrophobic domains of the stearyl groups after thermomechanical programming, which serves as a template for the reversible globule-to-coil transition of the poly(N-isopropylacrylamide) chains. The structural anisotropy is transient and can be erased upon cooling. This allows repeated programming for reversible shape transformation, an unknown feature for the current hydrogels. The programmable reversible transformation is expected to greatly extend the technical scope for hydrogel-based devices.

Kirigami-Design-Enabled Hydrogel Multimorphs with Application as a Multistate Switch

Morphing materials have promising applications in soft robots, intelligent devices, and so forth. Among the various design strategies, kirigami structures are recognized as a powerful tool to obtain sophisticated 3D configurations and unprecedented properties from planar designs on common materials. Here, some kirigami designs are demonstrated for programmable, multistable 3D configurations from composite hydrogel sheets. Via photolithographic polymerization, perforated composite hydrogel sheets are fabricated, in which soft and active hydrogel strips are patterned in stiff and passive hydrogel frames. When immersed in water, the gel strips buckle out of plane due to swelling mismatch. In the kirigami structures, the geometric continuity is disrupted by the introduction of cutouts, and thus the degrees of deformation freedom increases remarkably. Multiple configurations are obtained in a single composite hydrogel by controlling the buckling direction of each strip. Multitier configurations are also obtained by using a hierarchically designed kirigami structure. A multicontact switch of an electric circuit is designed by harnessing the multitier gel configurations. Furthermore, a rotation mode is realized by introducing chirality in the kirigami design. The versatile design of the kirigami structure for programmable deformations should be applicable for other intelligent materials toward promising applications in biomedical devices and flexible electronics.

Stereocomplexed and homocrystalline thermo-responsive physical hydrogels with a tunable network structure and thermo-responsiveness

Robust thermo-responsive physical hydrogels with a tunable network structure and thermo-responsiveness were developed by controlling the crystallization of hydrophobic blocks.

Photodirected Morphing Structures of Nanocomposite Shape Memory Hydrogel with High Stiffness and Toughness

Shape memory hydrogels have drawn increasing attention in recent years. Practical applications require these hydrogels to have good mechanical properties as well as contactless stimulations to trigger the shape deformations. Here we report a stiff and tough shape memory hydrogel that can transform to various configurations sequentially by phototriggered site-specific deformations. Response of the shape memory hydrogel to near-infrared (NIR) light irradiation was achieved by incorporating gold nanorods (AuNRs) into the glassy gel matrix of poly(methacrylic acid-co-methacrylamide) without compromising the excellent mechanical properties. Owing to the photothermal effect of the AuNRs, the localized temperature rise led to a dramatic decrease in Young's modulus (from 200 to 2 MPa) of the prestretched hydrogel and bending deformation with a programmable direction and amplitude. More complex three-dimensional configurations can be obtained by multidirectional prestretching and shape memorizing the individual parts of the nanocomposite hydrogel. Furthermore, the AuNRs embedded in the gel were aligned along the prestretching direction, leading to anisotropic plasmon resonance. These photomediated programmable deformations of tough shape memory hydrogels should find applications in the biomedical and engineering fields.