Magnetically Addressable Shape-Memory and Stiffening in a Composite Elastomer

"Magnetic marshmallows" for soft robotics: magneto-mechanical characterization and application in switchable adhesion structures

Soft magnetic composites exhibit fast and programmable macroscopic deformations in magnetic fields, making them promising for applications in soft untethered robotics or in designing surfaces with switchable adhesion or wetting properties. However, due to the incompressible nature of soft, non-porous actuators, their compression or elongation leads to important shape change due to lateral expansion or compression, respectively. In practice, bending and folding remain preferred actuation modes. Here, we explore the potential of magnetic elastomer "marshmallows" as compressible actuators with low Poisson's ratio. Using a sacrificial salt pellet template method, we fabricate polydimethylsiloxane foams with open porosity filled with carbonyl iron particles. The obtained foams exhibit strong reversible compression under the influence of a magnetic field gradient. We reveal the significance of stress accumulation in the direction of the field gradient due to magnetic body forces and the key role of the foam thickness in magnetic strain. We propose a simple analytical model based on the action of a magnetic body force that explains these effects. Finally, we demonstrate the development of a novel switchable adhesion structure, in which the magnetic foam covered with a pressure-sensitive adhesive serves as a compressible actuator able to switch between adhesive and non-adhesive states.

Amplifying Magneto-Mechanical Performance of Magnetorheological Elastomers through Surface Functionalization of Iron Nanoparticles

Challenges posed by the chemical incompatibility between nanoparticles and polymer matrices hinder the widespread use of polymer nanocomposites as the material platform for many innovations. In this study, we demonstrate the effectiveness of a versatile approach to the surface functionalization of commercial nanoparticles. To illustrate the importance of proper surface functionalization, the process was used to functionalize high-moment iron nanoparticles to enhance the magneto-mechanical performance of nanoparticle-based magnetorheological elastomers (MREs). We successfully grafted off-the-shelf iron nanoparticles with poly(dimethylsiloxane) (PDMS) ligands, and then used them to fabricate nanoparticle-based anisotropic MREs with reduced stiffness and improved magnetic properties compared with MREs fabricated with the original nonfunctionalized particles. Structural analysis revealed a regular arrangement of nanoparticles with reduced agglomeration within the elastomeric matrix when functionalized particles were used. Mechanical testing showed enhanced deflection and bending performance for these MREs. Furthermore, this improvement of magneto-mechanical performance was obtained at lower effective magnetic content compared with nonfunctionalized particle elastomers. Magnetic characterization, in turn, revealed amplified magnetic anisotropy and improved chain ordering inside the functionalized-particle MREs. Our findings highlight the potential of surface functionalization of magnetic nanoparticles to improve performance in nanocomposites, such as nanoparticle-based MREs with superior mechanical and magnetic properties.

Soft composites with liquid inclusions: functional properties and theoretical models

Soft materials containing liquid inclusions have emerged as a promising class of materials. Unlike solid inclusions, liquid inclusions possess intrinsic fluidity, which allows them to retain the excellent deformation ability of soft materials. This can prevent compliance mismatches between the inclusions and the matrix, thus leading to improved performance and durability. Various liquids, including metallic, water-based, and ionic liquids, have been selected as inclusions for embedding into soft materials, resulting in unique properties and functionalities that enable a wide range of applications in soft robotics, wearable devices, and other cutting-edge fields. This review provides an overview of recent studies on the functional properties of composites with liquid inclusions and discusses theoretical models used to estimate these properties, aiming to bridge the gap between the microstructure/components and the overall properties of the composite from a theoretical perspective. Furthermore, current challenges and future opportunities for the widespread application of these composites are explored, highlighting their potential in advancing technologies.

Elasticity-controlled jamming criticality in soft composite solids

Soft composite solids are made of inclusions dispersed within soft matrices. They are ubiquitous in nature and form the basis of many biological tissues. In the field of materials science, synthetic soft composites are promising candidates for building various engineering devices due to their highly programmable features. However, when the volume fraction of the inclusions increases, predicting the mechanical properties of these materials poses a significant challenge for the classical theories of composite mechanics. The difficulty arises from the inherently disordered, multi-scale interactions between the inclusions and the matrix. To address this challenge, we systematically investigated the mechanics of densely filled soft elastomers containing stiff microspheres. We experimentally demonstrate how the strain-stiffening response of the soft composites is governed by the critical scalings in the vicinity of a shear-jamming transition of the included particles. The proposed criticality framework quantitatively connects the overall mechanics of a soft composite with the elasticity of the matrix and the particles, and captures the diverse mechanical responses observed across a wide range of material parameters. The findings uncover a novel design paradigm of composite mechanics that relies on engineering the jamming properties of the embedded inclusions.

Leveraging Biomaterial Platforms to Study Aging-Related Neural and Muscular Degeneration

Aging is a complex multifactorial process that results in tissue function impairment across the whole organism. One of the common consequences of this process is the loss of muscle mass and the associated decline in muscle function, known as sarcopenia. Aging also presents with an increased risk of developing other pathological conditions such as neurodegeneration. Muscular and neuronal degeneration cause mobility issues and cognitive impairment, hence having a major impact on the quality of life of the older population. The development of novel therapies that can ameliorate the effects of aging is currently hindered by our limited knowledge of the underlying mechanisms and the use of models that fail to recapitulate the structure and composition of the cell microenvironment. The emergence of bioengineering techniques based on the use of biomimetic materials and biofabrication methods has opened the possibility of generating 3D models of muscular and nervous tissues that better mimic the native extracellular matrix. These platforms are particularly advantageous for drug testing and mechanistic studies. In this review, we discuss the developments made in the creation of 3D models of aging-related neuronal and muscular degeneration and we provide a perspective on the future directions for the field.

Folk arts-inspired twice-coagulated configuration-editable tough aerogels enabled by transformable gel precursors

Aerogels, as famous lightweight and porous nanomaterials, have attracted considerable attention in various emerging fields in recent decades, however, both low density and weak mechanical performance make their configuration-editing capability challenging. Inspired by folk arts, herein we establish a highly efficient twice-coagulated (TC) strategy to fabricate configuration-editable tough aerogels enabled by transformable gel precursors. As a proof of concept, aramid nanofibers (ANFs) and polyvinyl alcohol (PVA) are selected as the main components of aerogel, among which PVA forms a flexible configuration-editing gel network in the first coagulation process, and ANF forms a configuration-locking gel network in the second coagulation process. TC strategy guarantees the resulting aerogels with both high toughness and feasible configuration editing capability individually or simultaneously. Altogether, the resulting tough aerogels with special configuration through soft to hard modulation provide great opportunities to break through the performance limits of the aerogels and expand application areas of aerogels.

Giant Piezoelectric Output and Stability Enhancement in Piezopolymer Composites with Liquid Metal Nanofillers

Integrating nanomaterials into the polymer matrix is an effective strategy to optimize the performance of polymer-based piezoelectric devices. Nevertheless, the trade-off between the output enhancement and stability maintenance of piezoelectric composites usually leads to an unsatisfied overall performance for the high-strength operation of devices. Here, by setting liquid metal (LM) nanodroplets as the nanofillers in a poly(vinylidene difluoride) (PVDF) matrix, the as-formed liquid-solid/conductive-dielectric interfaces significantly promote the piezoelectric output and the reliability of this piezoelectric composite. A giant performance improvement featured is obtained with, nearly 1000% boosting on the output voltage (as high as 212 V), 270% increment on the piezoelectric coefficient (d33 ∼51.1 pC N-1 ) and long-term reliability on both structure and output (over 36 000 cycles). The design of a novel heterogenous interface with both mechanical matching and electric coupling can be the new orientation for developing high performance piezoelectric composite-based devices.

Exact and Computationally Robust Solutions for Cylindrical Magnets Systems with Programmable Magnetization

Magnetic systems based on permanent magnets are receiving growing attention, in particular for micro/millirobotics and biomedical applications. Their design landscape is expanded by the possibility to program magnetization, yet enabling analytical results, crucial for containing computational costs, are lacking. The dipole approximation is systematically used (and often strained), because exact and computationally robust solutions are to be unveiled even for common geometries such as cylindrical magnets, which are ubiquitously used in fundamental research and applications. In this study, exact solutions are disclosed for magnetic field and gradient of a cylindrical magnet with generic uniform magnetization, which can be robustly computed everywhere within and outside the magnet, and directly extend to magnets systems of arbitrary complexity. Based on them, exact and computationally robust solutions are unveiled for force and torque between coaxial magnets. The obtained analytical solutions overstep the dipole approximation, thus filling a long-standing gap, and offer strong computational gains versus numerical simulations (up to 106 , for the considered test-cases). Moreover, they bridge to a variety of applications, as illustrated through a compact magnets array that could be used to advance state-of-the-art biomedical tools, by creating, based on programmable magnetization patterns, circumferential and helical force traps for magnetoresponsive diagnostic/therapeutic agents.

Stiffness Variable Polymer for Soft Actuators with Sharp Stiffness Switch and Fast Response

Stiffness variable polymers are an essential family of materials that have aroused considerable attention in soft actuators. Although lots of strategies have been proposed to achieve variable stiffness, it remains a formidable challenge to achieve a polymer with a wide stiffness range and fast stiffness change. Herein, a series of variable stiffness polymers with a fast stiffness change and wide stiffness range were successfully synthesized, and the formulas were optimized via Pearson correlation tests. The rigid/soft stiffness ratio of the designed polymer samples can reach up to 1376-folds. Impressively, owing to the phase-changing side chains, the narrow endothermic peak can be observed with full width at half-maximum within 5 °C. Moreover, the shape memory properties of the shape fixity (R_f) and shape recovery ratio (R_r) values of the shape memory properties could reach up to 99.3 and 99.2%, respectively. Then, the obtained polymer was introduced into a kind of designed 3D printing soft actuator. The soft actuator can achieve sharp heating-cooling cycle of 19 s under a 1.2 A current with 4 °C water as coolant and can lift a 200 g weight at the actuating state. Moreover, the stiffness of the soft actuator can reach up to 718 mN/mm. The soft actuator exhibits an outstanding actuate behavior and stiffness switchable capability. We expect our design strategy and obtained variable stiffness polymers to be potentially applied in soft actuators and other devices.

Surface Functionalization of 4D Printed Substrates Using Polymeric and Metallic Wrinkles

Wrinkle topographies have been studied as simple, versatile, and in some cases biomimetic surface functionalization strategies. To fabricate surface wrinkles, one material phenomenon employed is the mechanical-instability-driven wrinkling of thin films, which occurs when a deforming substrate produces sufficient compressive strain to buckle a surface thin film. Although thin-film wrinkling has been studied on shape-changing functional materials, including shape-memory polymers (SMPs), work to date has been primarily limited to simple geometries, such as flat, uniaxially-contracting substrates. Thus, there is a need for a strategy that would allow deformation of complex substrates or 3D parts to generate wrinkles on surfaces throughout that complex substrate or part. Here, 4D printing of SMPs is combined with polymeric and metallic thin films to develop and study an approach for fiber-level topographic functionalization suitable for use in printing of arbitrarily complex shape-changing substrates or parts. The effect of nozzle temperature, substrate architecture, and film thickness on wrinkles has been characterized, as well as wrinkle topography on nuclear alignment using scanning electron microscopy, atomic force microscopy, and fluorescent imaging. As nozzle temperature increased, wrinkle wavelength increased while strain trapping and nuclear alignment decreased. Moreover, with increasing film thickness, the wavelength increased as well.

Influence of Gamma Radiation on the Damping Property of Magnetorheological Elastomer

Magnetorheological elastomer (MRE) is a kind of smart material, whose mechanical property can be controlled by the external magnetic field quickly and reversibly. The damping property of MRE is one of the most concerned properties when designing MRE based devices. In this work, the influence of gamma radiation on the damping property of MRE was investigated. Six different exposures of gamma radiation were applied to the MRE samples. The highest gamma radiation dose was up to 1 × 10⁵ Gy(Si), which can cover most of the engineering application scenarios. The influence of gamma radiation on the damping-strain relation and the damping-magnetic-field relation were studied. The probable mechanisms were discussed in detail. It is found that the gamma radiation does not affect the variation trend of loss factor of MRE with increasing strain amplitude or magnetic flux density. But it affects the variation trend of the maximum change of strain-induced or magnetic-field-induced loss factor of MRE. Besides, with constant strain and constant magnetic flux density, the loss factor of MRE shows w-shape variation trend with increasing gamma radiation dose. It is considered to be resulted from the combined action of the intrinsic damping and the interfacial friction damping of MRE.

Water-Triggered Stiffening of Shape-Memory Polyurethanes Composed of Hard Backbone Dangling PEG Soft Segments

Shape-memory polymers (SMPs) induced by heat or water are commonly used candidates for biomedical applications. Shape recovery inevitably leads to a dramatic decrease of Young's modulus due to the enhanced flexibility of polymer chains at the transition temperature. Herein, the principle of phase-transition-induced stiffening of shape-memory metallic alloys (SMAs) is introduced to the design of molecular structures for shape-memory polyurethane (SMPUs), featuring all-hard segments composed of main chains that are attached with poly(ethylene glycol) (PEG) dangling side chains. Different from conventional SMPs, they achieve a soft-to-stiff transition when shape recovers. The stiffening process is driven by water-triggered segmental rearrangement due to the incompatibility between the hard segments and the soft PEG segments. Upon hydration, the extent of microphase separation is enhanced and the hard domains are transformed to a more continuous morphology to realize more effective stress transfer. Meanwhile, such segmental rearrangement facilitates the shape-recovery process in the hydrated state despite the final increased glass transition temperature (T_g ). This work represents a novel paradigm of simultaneously integrating balanced mechanics, shape-memory property, and biocompatibility for SMPUs as materials for minimally invasive surgery such as endoluminal stents.

On-Demand Programming of Liquid Metal-Composite Microstructures through Direct Ink Write 3D Printing

Soft, elastically deformable composites with liquid metal (LM) droplets can enable new generations of soft electronics, robotics, and reconfigurable structures. However, techniques to control local composite microstructure, which ultimately governs material properties and performance, is lacking. Here a direct ink writing technique is developed to program the LM microstructure (i.e., shape, orientation, and connectivity) on demand throughout elastomer composites. In contrast to inks with rigid particles that have fixed shape and size, it is shown that emulsion inks with LM fillers enable in situ control of microstructure. This enables filaments, films, and 3D structures with unique LM microstructures that are generated on demand and locked in during printing. This includes smooth and discrete transitions from spherical to needle-like droplets, curvilinear microstructures, geometrically complex embedded inclusion patterns, and connected LM networks. The printed materials are soft (modulus < 200 kPa), highly deformable (>600 % strain), and can be made locally insulating or electrically conductive using a single ink by controlling the process conditions. These capabilities are demonstrated by embedding elongated LM droplets in a soft heat sink, which rapidly dissipates heat from high-power LEDs. These programmable microstructures can enable new composite paradigms for emerging technologies that demand mechanical compliance with multifunctional response.

Emerging 4D Printing Strategies for Next-Generation Tissue Regeneration and Medical Devices

The rapid development of 3D printing has led to considerable progress in the field of biomedical engineering. Notably, 4D printing provides a potential strategy to achieve a time-dependent physical change within tissue scaffolds or replicate the dynamic biological behaviors of native tissues for smart tissue regeneration and the fabrication of medical devices. The fabricated stimulus-responsive structures can offer dynamic, reprogrammable deformation or actuation to mimic complex physical, biochemical, and mechanical processes of native tissues. Although there is notable progress made in the development of the 4D printing approach for various biomedical applications, its more broad-scale adoption for clinical use and tissue engineering purposes is complicated by a notable limitation of printable smart materials and the simplistic nature of achievable responses possible with current sources of stimulation. In this review, the recent progress made in the field of 4D printing by discussing the various printing mechanisms that are achieved with great emphasis on smart ink mechanisms of 4D actuation, construct structural design, and printing technologies, is highlighted. Recent 4D printing studies which focus on the applications of tissue/organ regeneration and medical devices are then summarized. Finally, the current challenges and future perspectives of 4D printing are also discussed.

Nanoparticle-Based Magnetorheological Elastomers with Enhanced Mechanical Deflection for Haptic Displays

Haptics allows tactile interactions between humans and digital interfaces. Magnetorheological elastomers (MREs) constitute a promising candidate material for creating the tactile interface of the future─one able to recreate 3D shapes that can be sensed with touch. Furthermore, an MRE formed by using nanoparticles, as opposed to previously used microparticles, is necessary to generate a variety of shapes involving sharp curvatures over small, micrometer-scale horizontal distances to pave the way for haptic displays with microtexture resolution. Here we fabricated both isotropic and anisotropic MREs with different concentrations (2-8 vol % nanoparticles) of soft, low-remanence ferromagnetic nanoparticles. When placed in a magnetic field gradient, isotropic MREs, nonintuitively, show higher deflection than anisotropic MREs, with the former achieving displacement on the order of a millimeter at just 100 mT. This enhanced performance in the isotropic case is explained based on the soft magnetic nature of the nanoparticles. We show that performance improves with magnetic content up to a composition of 6 vol %, where it plateaus. This behavior is attributed to the stiffness of the composite material increasing at a faster rate than the magnetization as the rigid magnetic nanoparticles are added to the elastomeric matrix. Moreover, 6 vol % microparticle-based isotropic and anisotropic MREs were fabricated and compared with the nanoparticle-based MREs. Anisotropic nanoparticle-based films show higher deflection when compared with their microparticle-based counterparts. The latter is only able to match the nanoparticle film deflection at higher applied fields of almost 300 mT. This performance difference between nanoparticle and microparticle-based films is attributed to the increased anisotropic film stiffness resulting from the larger micrometer-size particles. Finally, the optimally designed nanoparticle-based isotropic film was utilized to create a programmable and real-time reconfigurable braille-inspired interface.

Precise Controlling of Friction and Adhesion on Reprogrammable Shape Memory Micropillars

Microstructured surfaces with stimuli-responsive performances have aroused great attention in recent years, but it still remains a significant challenge to endow surfaces with precisely controlled morphological changes in microstructures, so as to get the precise control of regional properties (e.g., friction, adhesion). Herein, a kind of carbonyl iron particle-doped shape memory polyurethane micropillar with precisely controllable morphological changes is realized, upon remote near-infrared light (NIR) irradiation. Owing to the reversible transition of micropillars between bent and upright states, the micro-structured surface exhibits precisely controllable low-to-high friction transitions, together with the changes of friction coefficient ranging from ∼0.8 to ∼1.2. Hence, the changes of the surface friction even within an extremely small area can be precisely targeted, under local NIR laser irradiation. Moreover, the water droplet adhesion force of the surface can be reversibly switched between ∼160 and ∼760 μN, demonstrating the application potential in precisely controllable wettability. These features indicate that the smart stimuli-responsive micropillar arrays would be amenable to a variety of applications that require remote, selective, and on-demand responses, such as a refreshable Braille display system, micro-particle motion control, lab-on-a-chip, and microfluidics.

Shape-Memory Composites Based on Ionic Elastomers

Shape-memory polymers tend to present rigid behavior at ambient temperature, being unable to deform in this state. To obtain soft shape-memory elastomers, composites based on a commercial rubber crosslinked by both ionic and covalent bonds were developed, as these materials do not lose their elastomeric behavior below their transition (or activation) temperature (using ionic transition for such a purpose). The introduction of fillers, such as carbon black and multiwalled carbon nanotubes (MWCNTs), was studied and compared with the unfilled matrix. By adding contents above 10 phr of MWCNT, shape-memory properties were enhanced by 10%, achieving fixing and recovery ratios above 90% and a faster response. Moreover, by adding these fillers, the conductivity of the materials increased from ~10⁻¹¹ to ~10⁻⁴ S·cm⁻¹, allowing the possibility to activate the shape-memory effect with an electric current, based on the heating of the material by the Joule effect, achieving a fast and clean stimulus requiring only a current source of 50 V.

Magnetic Soft Materials and Robots

In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.

Liquid Gating Meniscus-Shaped Deformable Magnetoelastic Membranes with Self-Driven Regulation of Gas/Liquid Release

Liquid gating membranes have been demonstrated to show unprecedented properties of dynamicity, stability, adaptivity, and stimulus-responsiveness. Most recently, smart liquid gating membranes have attracted increasing attention to bring some brand-new properties for real-world applications, and various environment-driven systems have been created. Here, a self-driven system of a smart liquid gating membrane is further developed by designing a new sytem based on a liquid gating magnetoelastic porous membrane with reversible meniscus-shaped deformations, and it is not subject to the complex gating liquid restriction of magnetorheological fluids. Compared with other systems, this magnetic-responsive self-driven system has the advantage that it provides a universal and convenient way to realize active regulation of gas/liquid release. Experiments and theoretical calculations demonstrate the stability, the nonfouling behavior, and the tunability of the system. In addition, this system can be used to perfectly open and close gas transport, and the gating pressure threshold for the liquid release can be reduced under the same conditions. Based on the above capabilities, combined with the fast and 3D contactless operation, it will be of benefit in fields ranging from visible gas/liquid mixture content monitoring and energy-saving multiphase separation, remote fluid release, and beyond.

Reconfigurable Surface Micropatterns Based on the Magnetic Field-Induced Shape Memory Effect in Magnetoactive Elastomers

A surface relief grating with a period of 30 µm is embossed onto the surface of magnetoactive elastomer (MAE) samples in the presence of a moderate magnetic field of about 180 mT. The grating, which is represented as a set of parallel stripes with two different amplitude reflectivity coefficients, is detected via diffraction of a laser beam in the reflection configuration. Due to the magnetic-field-induced plasticity effect, the grating persists on the MAE surface for at least 90 h if the magnetic field remains present. When the magnetic field is removed, the diffraction efficiency vanishes in a few minutes. The described effect is much more pronounced in MAE samples with larger content of iron filler (80 wt%) than in the samples with lower content of iron filler (70 wt%). A simple theoretical model is proposed to describe the observed dependence of the diffraction efficiency on the applied magnetic field. Possible applications of MAEs as magnetically reconfigurable diffractive optical elements are discussed. It is proposed that the described experimental method can be used as a convenient tool for investigations of the dynamics of magnetically induced plasticity of MAEs on the micrometer scale.

Solid-Liquid Host-Guest Composites: The Marriage of Porous Solids and Functional Liquids

Composite materials can provide remarkable improvements over the individual constituents. Especially, with a liquid component introduced into a solid porous host, solid-liquid host-guest composites have recently come to the forefront with exceptional functions that promise them for a wealth of applications. Combining the unprecedented dynamic, transparent, omniphobic, self-healing, diffusive and adaptive nature of functional liquid with inherent solid host's property, solid-liquid host-guest composites can realize the ease of fabrication, long-term stability, and a broad spectrum of enhanced properties, which cannot be fully met by conventional solid-solid composites or liquid-liquid composites. This review presents the state-of-the-art progress in solid-liquid host-guest composites. Initially, the concept, classification, design strategy, as well as fabrication methods as a path forward to develop the composites are unraveled, and further it is elaborated on how the functionality of porous solid and functional liquid can be harnessed to create composites with a broad range of unique properties, especially, the optical, thermal, electric, mechanical, sorption, and separation properties. With these fascinating properties, a myriad of emerging applications such as optical devices, thermal management, electromagnetic-interference shielding, soft electronics, gas capture and release, and multiphase separations are touched upon, inspiring more frontier researches in materials science, interfacial chemistry, membrane science, engineering, and multidisciplinary. Finally, this review provides the perspective on the future directions of solid-liquid host-guest composites and assesses the challenges and opportunities ahead.

Review of Magnetic Shape Memory Polymers and Magnetic Soft Materials

Magnetic soft materials (MSMs) and magnetic shape memory polymers (MSMPs) have been some of the most intensely investigated newly developed material types in the last decade, thanks to the great and versatile potential of their innovative characteristic behaviors such as remote and nearly heatless shape transformation in the case of MSMs. With regard to a number of properties such as shape recovery ratio, manufacturability, cost or programming potential, MSMs and MSMPs may exceed conventional shape memory materials such as shape memory alloys or shape memory polymers. Nevertheless, MSMs and MSMPs have not yet fully touched their scientific-industrial potential, basically due to the lack of detailed knowledge on various aspects of their constitutive response. Therefore, MSMs and MSMPs have been developed slowly but their importance will undoubtedly increase in the near future. This review emphasizes the development of MSMs and MSMPs with a specific focus on the role of the magnetic particles which affect the shape memory recovery and programming behavior of these materials. In addition, the synthesis and application of these materials are addressed.

Materials with Electroprogrammable Stiffness

Stiffness is a mechanical property of vital importance to any material system and is typically considered a static quantity. Recent work, however, has shown that novel materials with programmable stiffness can enhance the performance and simplify the design of engineered systems, such as morphing wings, robotic grippers, and wearable exoskeletons. For many of these applications, the ability to program stiffness with electrical activation is advantageous because of the natural compatibility with electrical sensing, control, and power networks ubiquitous in autonomous machines and robots. The numerous applications for materials with electrically driven stiffness modulation has driven a rapid increase in the number of publications in this field. Here, a comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials. Finally, a perspective identifies state-of-the-art trends and an outlook of future opportunities for the development and use of materials with electroprogrammable stiffness.

Phase change mediated mechanically transformative dynamic gel for intelligent control of versatile devices

Traditional devices, including conventional rigid electronics and machines, as well as emerging wearable electronics and soft robotics, almost all have a single mechanical state for particular service purposes. Nonetheless, dynamic materials with interchangeable mechanical states, which enable more diverse and versatile applications, are urgently necessary for intelligent and adaptive application cases in the future electronic and robot fields. Here, we report a gel-like material composed of a crosslinking polymer network impregnated with a phase changing molten liquid, which undergoes an exceptional stiffness transition in response to a thermal stimulus. Vice versa, the material switches from a soft gel state to a rigid solid state with a dramatic stiffness change of 10⁵ times (601 MPa versus 4.5 kPa) benefiting from the liquid-solid phase change of the crystalline polymer once cooled. Such reversibility of the phase and mechanical transition upon thermal stimuli enables the dynamic gel mechanical transformation, demonstrating potential applications in an adhesive thermal interface gasket (TIG) to facilitate thermal transport, a high-temperature warning sensor and an intelligent gripper. Overall, this dynamic gel with a tunable stiffness change paves a new way to design and fabricate adaptive smart materials toward intelligent control of versatile devices.

Rapidly deployable and morphable 3D mesostructures with applications in multimodal biomedical devices

Structures that significantly and rapidly change their shapes and sizes upon external stimuli have widespread applications in a diversity of areas. The ability to miniaturize these deployable and morphable structures is essential for applications in fields that require high-spatial resolution or minimal invasiveness, such as biomechanics sensing, surgery, and biopsy. Despite intensive studies on the actuation mechanisms and material/structure strategies, it remains challenging to realize deployable and morphable structures in high-performance inorganic materials at small scales (e.g., several millimeters, comparable to the feature size of many biological tissues). The difficulty in integrating actuation materials increases as the size scales down, and many types of actuation forces become too small compared to the structure rigidity at millimeter scales. Here, we present schemes of electromagnetic actuation and design strategies to overcome this challenge, by exploiting the mechanics-guided three-dimensional (3D) assembly to enable integration of current-carrying metallic or magnetic films into millimeter-scale structures that generate controlled Lorentz forces or magnetic forces under an external magnetic field. Tailored designs guided by quantitative modeling and developed scaling laws allow formation of low-rigidity 3D architectures that deform significantly, reversibly, and rapidly by remotely controlled electromagnetic actuation. Reconfigurable mesostructures with multiple stable states can be also achieved, in which distinct 3D configurations are maintained after removal of the magnetic field. Demonstration of a functional device that combines the deep and shallow sensing for simultaneous measurements of thermal conductivities in bilayer films suggests the promising potential of the proposed strategy toward multimodal sensing of biomedical signals.

A Review of Shape Memory Polymers and Composites: Mechanisms, Materials, and Applications

Over the past decades, interest in shape memory polymers (SMPs) has persisted, and immense efforts have been dedicated to developing SMPs and their multifunctional composites. As a class of stimuli-responsive polymers, SMPs can return to their initial shape from a programmed temporary shape under external stimuli, such as light, heat, magnetism, and electricity. The introduction of functional materials and nanostructures results in shape memory polymer composites (SMPCs) with large recoverable deformation, enhanced mechanical properties, and controllable remote actuation. Because of these unique features, SMPCs have a broad application prospect in many fields covering aerospace engineering, biomedical devices, flexible electronics, soft robotics, shape memory arrays, and 4D printing. Herein, a comprehensive analysis of the shape recovery mechanisms, multifunctionality, applications, and recent advances in SMPs and SMPCs is presented. Specifically, the combination of functional, reversible, multiple, and controllable shape recovery processes is discussed. Further, established products from such materials are highlighted. Finally, potential directions for the future advancement of SMPs are proposed.

Superwetting Shape Memory Microstructure: Smart Wetting Control and Practical Application

Smart control of wettability on superwetting surfaces has aroused much attention in the past few years. Compared with traditional strategies such as adjusting the surface chemistry, regulating the surface microstructure is more difficult, though it can bring lots of new functions. Recently, it was found that, based on the shape memory effect of a shape memory polymer, the surface microstructure can be controlled more easily and precisely. Here, recent developments in the smart control of wettability on superwetting shape memory microstructures and corresponding applications are summarized. The primary concern is the superhydrophobic surfaces that have demonstrated numerous attractive functions, including controllable droplet storage, transportation, bouncing, capture/release, and reprogrammable gradient wetting, under variation of the surface microstructure. Finally, some achievements in wetting control on other superwetting surfaces (such as superomniphobic surfaces and superslippery surfaces) and perspectives on future research directions are also discussed.

Mechanically Cloaked Multiphase Magnetic Elastomer Soft Composites for Wearable Wireless Power Transfer

Wearable electronics allow for new and immersive experiences between technology and the human body, but conventional devices are made from rigid functional components that lack the necessary compliance to safely interact with human tissue. Recently, liquid inclusions have been incorporated into elastomer composites to produce functional materials with high extensibility and ultrasoft mechanical responses. While these materials have shown high thermal and electrical conductivity, there has been an absence of research into compliant magnetic materials through the incorporation of magnetic fluids. Compliant magnetic materials are important for applications in soft matter engineering including sensing, actuation, and power transfer for soft electronics and robotics. In this work, we establish a new class of highly functional soft materials with advanced magnetic and mechanical properties by dispersing magnetic colloidal suspensions as compliant fluid inclusions into soft elastomers. Significantly, the rigid magnetic particles are encapsulated by the fluid. This mechanically cloaks the solid particles and enables a fluid-like mechanical response while imparting high magnetic permeability to the composite. This microstructure reduces the modulus of the composite below that of the initial elastomer to <40 kPa while increasing the permeability by over 100% to greater than 2. We demonstrate the functionality of these materials through conformable magnetic backplanes, which enables a completely soft, coupled inductor system capable of transferring power up to 100% strain and wearable devices for wireless power transfer.

Hybrid Magnetorheological Composites for Electric and Magnetic Field Sensors and Transducers

We present a simple, low-cost, and environmental-friendly method for the fabrication of hybrid magnetorheological composites (hMCs) based on cotton fibers soaked with a mixture of silicone oil (SO), carbonyl iron (CI) microparticles, and iron oxide microfibers (μF). The obtained hMCs, with various ratios (Φ) of SO and μF, are used as dielectric materials for manufacturing electrical devices. The equivalent electrical capacitance and resistance are investigated in the presence of an external magnetic field, with flux density B. Based on the recorded data, we obtain the variation of the relative dielectric constant (ϵr'), and electrical conductivity (σ), with Φ, and B. We show that, by increasing Φ, the distance between CI magnetic dipoles increases, and this leads to significant changes in the behaviour of ϵr' and σ in a magnetic field. The results are explained by developing a theoretical model that is based on the dipolar approximation. They indicate that the obtained hMCs can be used in the fabrication of magneto-active fibers for fabrication of electric/magnetic field sensors and transducers.

Introduction to liquid composites

Michael Bartlett and Robert Style introduce the Soft Matter themed collection on liquid composites.

Switchable adhesion of soft composites induced by a magnetic field

Switchable adhesives have the potential to improve the manufacturing and recycling of parts, and to enable new modes of motility for soft robots. Here, we demonstrate magnetically-switchable adhesion of a two-phase composite to non-magnetic objects. The composite's continuous phase is a silicone elastomer, and the dispersed phase is a magneto-rheological fluid. The composite is simple to prepare, and to mold into different shapes. When a magnetic field is applied, the magneto-rheological fluid develops a yield stress, which dramatically enhances the composite's adhesive properties. We demonstrate up to a nine-fold increase of the pull-off force of non-magnetic objects in the presence of a 250 mT field.

Bad neighbour, good neighbour: how magnetic dipole interactions between soft and hard ferrimagnetic nanoparticles affect macroscopic magnetic properties in ferrofluids

Fluids responding to magnetic fields (ferrofluids) offer a scene with no equivalent in nature to explore long-range magnetic dipole interactions. Here, we studied the very original class of binary ferrofluids, embedding soft and hard ferrimagnetic nanoparticles. We used a combination of X-ray magnetic spectroscopy measurements supported by multi-scale experimental techniques and Monte-Carlo simulations to unveil the origin of the emergent macroscopic magnetic properties of the binary mixture. We found that the association of soft and hard magnetic nanoparticles in the fluid has a considerable influence on their inherent magnetic properties. While the ferrofluid remains in a single phase, magnetic interactions at the nanoscale between both types of particles induce a modification of their respective coercive fields. By connecting the microscopic properties of binary ferrofluids containing small particles, our findings lay the groundwork for the manipulation of magnetic interactions between particles at the nanometer scale in magnetic liquids.

Three-Dimensional Structured Dual-Mode Flexible Sensors for Highly Sensitive Tactile Perception and Noncontact Sensing

This work reports a three-dimensional (3D) structured multifunctional sensor by connecting a magnetowhisker with a superflexible patterned skin film. Composed of percolation networks of silver nanowires, the patterned skin film is integrated via a simple template manufacturing method without increasing the complexity and sacrificing the flexibility. The as-prepared 3D structured sensor can realize the multimodal detection of out-of-plane tactile stimuli and details of noncontact environmental obstacles in multiple directions. Here, the sensor's perception behaviors on compression, pulling, magnetic field, sound waves, airflow, water level, water flow, and backwash are presented. Furthermore, the 3D structured sensor obtains outstanding mechanical robustness and stability for 8000 cycles, excellent sensitivity (12 800% when the applied pulling displacement was 3.5 mm; 152% T^-1 when the magnetic flux density variation was 40.6 mT), ultrahigh response time, and ultrahigh recovery time (∼5 ms), which may meet the industrial sensing requirement for artificial tactile electronics. Facile manufacturing processes and outstanding multimodal sensing characteristics make the 3D structured sensor to possess great potential to be implemented in the next-generation intelligent bionic equipment or systems.

Athermal Shape Memory Effect in Magnetoactive Elastomers

Shape memory materials (SMMs) are usually referred to as materials with the ability to recover the original shape via certain thermal stimulations, such as temperature increase. Such shape memory behaviors achieved thermally usually exhibit slow response due to the constraint of thermal conductivity, leaving a big challenge for situations with temperature and speed requirements. In this work, different from previous shape memory mechanisms, an athermal fast-response shape memory effect (SME) based on the manipulation of magnetization profiles is introduced both experimentally and theoretically. Through the new mechanism, the shape information of a hard magnetic-particle-embedded magnetoactive elastomer (H-MAE) can be accurately converted into the distribution of magnetic domains and recorded/memorized in the material. Then, upon the application of an external magnetic field, due to the interactions between magnetic domains and the magnetic field, the recorded shape information can be immediately displayed. To exploit this mechanism, the magnetic actuating properties are analyzed and a new way for information writing and repeatable reading is also realized.

Ferromagnetic Liquid Metal Putty-Like Material with Transformed Shape and Reconfigurable Polarity

It is remarkably desirable and challenging to design reconfigurable ferromagnetic materials with high electrical conductivity. This has attracted great attention due to promising applications in many fields such as emerging flexible electronics and soft robotics. However, the shape and magnetic polarity of existing ferromagnetic materials with low conductivity are both hard to be reconfigured, and the magnetization of insulative ferrofluids is easily lost once the external magnetic field is removed. A novel reconfigurable ferromagnetic liquid metal (LM) putty-like material (FM-LMP) with high electrical conductivity and transformed shape, which is prepared through homogenously mixing neodymium-iron-boron microparticles into the gallium-based LM matrix, and turning this liquid-like suspension into the solid-like putty-like material by magnetization, is reported to achieve this. The induction magnetic field of FM-LMP is mainly attributed to the magnetic alignment of the dispersed ferromagnetic microparticles, which can be conveniently demagnetized by mechanical disordering and reversibly reconfigured through microparticle realignment by applying a weak magnetic field. FM-LMP with a low fraction of microparticles can be used as printable conductive ink for paper electronics, which are further exploited for applications including magnetic switching, flexible erasable magnetic recording paper, and self-sensing paper-based soft robotics using magnetic actuation.

Printing on liquid elastomers

In recent years the research community has paid significant attention to geometrically engineered materials. These materials derive their unique properties from their structure rather than their chemistry alone. Despite their success in the laboratory, the assembly of such soft functional materials remains an outstanding challenge. Here, we propose a robust fluid-mediated route for the rapid fabrication of soft elastomers architected with liquid inclusions. Our approach consists of depositing water drops at the surface of an immiscible liquid elastomer bath. As the elastomer cures, the drops are encapsulated in the polymer and impart shape and function to the newly formed elastic matrix. Using the framework of fluid mechanics, we show how this type of composite material can be tailored.