Ultrastrong Ionotronic Films Showing Electrochemical Osmotic Actuation

A multifunctional soft material with high ionic and electrical conductivity, combined with high mechanical properties and the ability to change shape can enable bioinspired responsive devices and systems. The incorporation of all these characteristics in a single material is very challenging, as the improvement of one property tends to reduce other properties. Here, a nanocomposite film based on charged, high-aspect-ratio 1D flexible nanocellulose fibrils, and 2D Ti3 C2 Tx MXene is presented. The self-assembly process results in a stratified structure with the nanoparticles aligned in-plane, providing high ionotronic conductivity and mechanical strength, as well as large water uptake. In hydrogel form with 20 wt% liquid, the electrical conductivity is over 200 S cm-1 and the in-plane tensile strength is close to 100 MPa. This multifunctional performance results from the uniquely layered composite structure at nano- and mesoscales. A new type of electrical soft actuator is assembled where voltage as low as ±1 V resulted in osmotic effects and giant reversible out-of-plane swelling, reaching 85% strain.

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.

A Hydrogel-Based Self-Sensing Underwater Actuator

Soft robots made of hydrogels are suited for underwater exploration due to their biocompatibility and compliancy. Yet, reaching high dexterity and actuation force for hydrogel-based actuators is challenging. Meanwhile, real-time proprioception is critical for feedback control. Moreover, sensor integration to mimic living organisms remains problematic. To address these challenges, we introduce a hydrogel actuator driven by hydraulic force with a fast response (time constant 0.83 s). The highly stretchable and conductive hydrogel (1400% strain) is molded into the PneuNet shape, and two of them are further assembled symmetrically to actuate bi-directionally. Then, we demonstrate its bionic application for underwater swimming, showing 2 cm/s (0.19 BL/s) speed. Inspired by biological neuromuscular systems' sensory motion, which unifies the sensing and actuation in a single unit, we explore the hydrogel actuator's self-sensing capacity utilizing strain-induced resistance change. The results show that the soft actuator's proprioception can monitor the undulation in real-time with a sensitivity of 0.2%/degree. Furthermore, we take a finite-element method and first-order differential equations to model the actuator's bending in response to pressure. We show that such a model can precisely predict the robot's bending response over a range of pressures. With the self-sensing actuator and the proposed model, we expect the new approach can lead to future soft robots for underwater exploration with feedback control, and the underlying mechanism of the undulation control might offer significant insights for biomimetic research.

Biomimetic Gradient Hydrogel Actuators with Ultrafast Thermo-Responsiveness and High Strength

Most current hydrogel actuators suffer from either poor mechanical properties or limited responsiveness. Also, the widely used thermo-responsive poly-(N-isopropylacrylamide) (PNIPAM) homopolymer hydrogels have a slow response rate. Thus, it remains a challenge to fabricate thermo-responsive hydrogel actuators with both excellent mechanical and responsive properties. Herein, ultrafast thermo-responsive VSNPs-P(NIPAM-co-AA) hydrogels containing multivalent vinyl functionalized silica nanoparticles (VSNPs) are fabricated. The ultrafast thermo-responsiveness is due to the mobile polymer chains grafted from the surfaces of the VSNPs, which can facilitate hydrophobic aggregation, inducing the phase transition and generating water transport channels for quick water expulsion. In addition, the copolymerization of NIPAM with acrylic acid (AA) decreases the transition temperature of the thermo-responsive PNIPAM-based hydrogels, contributing to ultrafast thermo-responsive shrinking behavior with a large volume change of as high as 72.5%. Moreover, inspired by nature, intelligent hydrogel actuators with gradient structure can be facilely prepared through self-healing between the ultrafast thermo-responsive VSNPs-P(NIPAM-co-AA) hydrogel layers and high-strength VSNPs-PAA-Fe³⁺ multibond network (MBN) hydrogel layers. The obtained well-integrated gradient hydrogel actuators show ultrafast thermo-responsive performance within only 9 s in 60 °C water, as well as high strength, and can be used for more practical applications as intelligent soft actuators or artificial robots.

Precisely Defining Local Gradients of Stimuli-Responsive Hydrogels for Complex 2D-to-4D Shape Evolutions

The intellectualization and complication of existing self-shaping materials are limited by the inseparable monotonic relationship between their deformation rate and deformation degree (i.e., a higher deformation rate is accompanied by a high deformation degree). This causes that they can only deform from 2D to 3D states. Here, a simple yet versatile strategy to decouple the monotonic correlation between the deformation rate and deformation degree of self-shaping hydrogels is presented for achieving complex deformations from 2D to temporary 3D to 3D (2D-to-4D). It is demonstrated that when the gradient hydrogels prepared by photopolymerization possess dense polymer networks, the local regions with a high deformation rate can exhibit a low deformation degree. The resulting hydrogels can thus deform in a novel 2D-to-4D mode under external stimuli. During the deformation, they first transform into the temporary shapes induced by the local deformation rate difference, and then transform into the final shapes determined by the local deformation degree difference. Through controlling the ultraviolet irradiation direction and time to precisely program the local gradients of self-shaping hydrogels, they can be designed to produce various unprecedented yet controllable 2D-to-4D shape evolutions on demand, such as transformable origami, sequential gesture actions in finger-guessing games, mobile octopuses, time switch, etc.

Using Dissipative Particle Dynamics to Model Effects of Chemical Reactions Occurring within Hydrogels

Computational models that reveal the structural response of polymer gels to changing, dissolved reactive chemical species would provide useful information about dynamically evolving environments. However, it remains challenging to devise one computational approach that can capture all the interconnected chemical events and responsive structural changes involved in this multi-stage, multi-component process. Here, we augment the dissipative particle dynamics (DPD) method to simulate the reaction of a gel with diffusing, dissolved chemicals to form kinetically stable complexes, which in turn cause concentration-dependent deformation of the gel. Using this model, we also examine how the addition of new chemical stimuli and subsequent reactions cause the gel to exhibit additional concentration-dependent structural changes. Through these DPD simulations, we show that the gel forms multiple latent states (not just the “on/off”) that indicate changes in the chemical composition of the fluidic environment. Hence, the gel can actuate a range of motion within the system, not just movements corresponding to the equilibrated swollen or collapsed states. Moreover, the system can be used as a sensor, since the structure of the layer effectively indicates the presence of chemical stimuli.

Robust Near-Infrared-Responsive Composite Hydrogel Actuator Using Fe3+/Tannic Acid as the Photothermal Transducer

Light-driven hydrogel actuators show potential applications because their spatiotemporal precision and contact-free manner, especially for near-infrared light (NIR), can be focused on a specific area, which possesses tunable intensity and strong penetrability. Herein, we propose a novel NIR-responsive hydrogel actuator incorporating Fe³⁺/tannic acid (Fe³⁺/TA) as a photothermal transducer into the poly(N-isopropylacrylamide) (PNIPAAm) hydrogel via photo-cross-linking and subsequent immersion in FeCl₃ solution. TA contains abundant pyrogallol and catechol groups, which can be linked to PNIPAAm through hydrogen bonds during in situ polymerization; moreover, as a mediator, TA can form metal-phenolic networks with Fe³⁺ via the coordination between catechol and metal ions, endowing the PNIPAAm gel with enhanced mechanical properties as well as NIR-responsive photothermal effect. We demonstrated that introduction of Fe³⁺/TA maintained the volume phase transition temperature of the hydrogel around 32 °C and guaranteed its deformation behaviors upon NIR irradiation. Furthermore, a higher concentration level of BIS and Fe³⁺ were verified to facilitate a stronger photothermal capacity of the hydrogels. Therefore, under NIR irradiation, Fe³⁺/TA within the hydrogel converted NIR light into heat, and the local high temperature in the irradiated region would cause the petals of the "snowflake"-shaped hydrogel to bend upward perpendicular to the horizontal plane within 1 min, possessing excellent repeatability. This study puts forward a new idea of preparing NIR-responsive hydrogel actuators based on Fe³⁺/TA, which show promising application in the fields of biomimetic devices, flowing control, and soft robotics.

Recent Progress in Biomimetic Anisotropic Hydrogel Actuators

Polymeric hydrogel actuators refer to intelligent stimuli-responsive hydrogels that could reversibly deform upon the trigger of various external stimuli. They have thus aroused tremendous attention and shown promising applications in many fields including soft robots, artificial muscles, valves, and so on. After a brief introduction of the driving forces that contribute to the movement of living creatures, an overview of the design principles and development history of hydrogel actuators is provided, then the diverse anisotropic structures of hydrogel actuators are summarized, presenting the promising applications of hydrogel actuators, and highlighting the development of multifunctional hydrogel actuators. Finally, the existing challenges and future perspectives of this exciting field are discussed.

Rapid Recovery Hydrogel Actuators in Air with Bionic Large-Ranged Gradient Structure

Fast recovery in a nonaqueous environment is a big challenge for hydrogel actuators. In this work, a temperature-responsive hydrogel actuator with outstandingly rapid recovery in air was reported. The hydrogel with bionic large-ranged gradient structure was fabricated by copolymerization of hydrophilic monomer hydroxyethyl acrylate (HEA) and N-isopropylacrylamide in the dispersion of Laponite utilizing a facile electrophoretic method. The deformation degree and time can be regulated by varying the concentration of HEA to change the lower critical solution temperature (LCST) and swelling of the hydrogel. A dynamic equilibrium between the water into and out of the hydrogel was observed, and the hydrogel showed no shrink above LCST. The synthesized hydrogels showed fast response in hot water and rapid recovery in air. Such nonshrink characteristics and excellent reversibility made it possible for these hydrogels to be used as temperature-controlled microfluidic switches. This work provided an approach to design fast recovery hydrogel actuators by the incorporation of hydrophilic monomers and extend the application of the hydrogel actuators into fields such as soft robots, micromanipulation, microfluidics and artificial muscles in various environments.

Ionoprinted Multi-Responsive Hydrogel Actuators

We report multi-responsive and double-folding bilayer hydrogel sheet actuators, whose directional bending response is tuned by modulating the solvent quality and temperature and where locally crosslinked regions, induced by ionoprinting, enable the actuators to invert their bending axis. The sheets are made multi-responsive by combining two stimuli responsive gels that incur opposing and complementary swelling and shrinking responses to the same stimulus. The lower critical solution temperature (LCST) can be tuned to specific temperatures depending on the EtOH concentration, enabling the actuators to change direction isothermally. Higher EtOH concentrations cause upper critical solution temperature (UCST) behavior in the poly(N-isopropylacrylamide) (pNIPAAm) gel networks, which can induce an amplifying effect during bilayer bending. External ionoprints reliably and repeatedly invert the gel bilayer bending axis between water and EtOH. Placing the ionoprint at the gel/gel interface can lead to opposite shape conformations, but with no clear trend in the bending behavior. We hypothesize that this is due to the ionoprint passing through the neutral axis of the bilayer during shrinking in hot water. Finally, we demonstrate the ability of the actuators to achieve shapes unique to the specific external conditions towards developing more responsive and adaptive soft actuator devices.