Wirelessly Actuated Thermo- and Magneto-Responsive Soft Bimorph Materials with Programmable Shape-Morphing

Asymmetric Laser Enabled High-Throughput Manufacturing of Multiform Magnetically Actuated Graphene-Based Robots for Various Water Depths

Achieving large-scale and facile manufacturing for diverse small-scale robots is critical in the field of small-scale robots. At present, conventional manufacturing methods have limitations in terms of efficiency, environmental friendliness, and operability. In particular, it is difficult to facilely process multiform small-scale robots through a single processing technology only. In this work, with the introduction of an asymmetric laser, multiforms of graphene, including powders, helical, and sheet, were successfully fabricated by simply adjusting laser processing parameters only. This allowed the development of multiform graphene-based robots capable of being actuated in various water depths, including underwater swarm, suspended helical, and floated sheet robots. Importantly, such robots can move smoothly in various trajectories under magnetic fields, including simple geometrical shapes and complicated words, demonstrating good maneuverability. Moreover, this manufacturing method enables the efficient production of multiform robots in different sizes, from 5 to 48 units, within 1 min. The proposed asymmetric laser technology is possible to provide a new means for manufacturing high-performance small-scale robots at high throughput.

Controlling Self-Oscillation of a Single-Layer Liquid Crystal Elastomer at the Air-Water Interface via Light Programming for Water Strider-Inspired Aquatic Robots

Biomimicking aquatic organisms offers many opportunities for designing intelligent robots that can freely move on water. However, most works were focused on multilayered materials or assembled structures and faced limitations in stability, versatility, and motion navigation. Here, we develop an assembly-free water-strider-like aquatic robot using a single layer of light-programmable liquid-crystal elastomer (LCE) that could be used to create asymmetric structures. The LCE strider mimics both the shape and functions of natural water striders; it is designed with four legs, with the fore and hind legs being programmed respectively via light. Consequently, the LCE strider shows self-oscillation and self-propulsion behaviors on low-grade thermal water with a temperature gradient at the air-water interface, owing to unbalanced changes in the contact areas and tensions between the legs and water. Furthermore, the trajectories of the LCE strider are manipulated by NIR light after selectively depositing polydopamine with photothermal conversion. In this way, path navigation is realized, that is, moving straight and on-demand turning, similar to the movement of natural water striders. This study should inspire the development of soft intelligent robots using shape-morphing materials.

Stress-Free Two-Way Shape Memory Polymers with Dual-Crystalline Phase Based on Poly(Tetramethylene Ether Glycol) and Poly(ε-Caprolactone)

Two-way shape memory polymers (2W-SMPs) are a class of smart materials and can undergo spontaneously reversible deformation after specific stimuli. It is crucial to develop 2W-SMPs to achieve precise control of two-way shape memory behavior without external forces and reveal their structure-property relationships. In this study, dual-crystalline phase crosslinked polymer networks based on poly(tetramethylene ether glycol) (PTMEG) and poly(ε-caprolactone) (PCL) are fabricated via thiol-ene click reactions. The networks with two independent melting temperatures are gained by adjusting the ratio of the two segments and the two-way shape memory is enabled using the temperature difference between the two phases. The effects of network composition, pre-tensile strain, and actuation temperature on the two-way shape memory properties are investigated and the two-way shape memory mechanism of dual-crystalline phase polymers is further elucidated. Among the various compositions of networks, PTMEG8-PCL2 exhibits the optimal two-way shape memory properties, with the actuation strain of 24.25% and reversible strain of up to 10.35% at the actuation temperature and pre-stretch strain of 45 °C and 15%, respectively, which is potential for soft robotics applications. It is believed that this work guides the design of semicrystalline networks with two-way shape memory properties.

Magneto-Photochemically Responsive Liquid Crystal Elastomer for Underwater Actuation

The quest for small-scale, remotely controlled soft robots has led to the exploration of magnetic and optical fields for inducing shape morphing in soft materials. Magnetic stimulus excels when navigation in confined or optically opaque environments is required. Optical stimulus, in turn, boasts superior spatial precision and individual control over multiple objects. Herein, we bring these two methodologies together and present a monolithic liquid crystal elastomer (LCE) system that synergistically combines magnetic and photochemical actuation schemes. The resultant composite material showcases versatile possibilities for underwater actuation, and we demonstrate robotic functionalities where the optical and magnetic response can be leveraged in different tasks (object gripping and object translocation, respectively) or where light can be used as a control signal to tune the magnetically induced actuation. Combining these two remote actuation methods offers powerful, dual-mode control in wireless, small-scale robotics, especially in submersed environments due to their isothermal nature.

Reconfigurable Visible Light-Driven Liquid Crystalline Network Showing Off-Equilibrium Motions Enabled by Mesogen-Grafted Donor-Acceptor Stenhouse Adducts

Liquid crystalline network (LCN)-based soft actuators have opened up great opportunities to fabricate emerging and intriguing smart materials, serving as potential building blocks for intelligent soft robotics. Endowing LCN actuators with complex responsive behaviors to enhance their intelligence is both challenging and highly demanded. Herein, Donor-Acceptor Stenhouse Adducts (DASAs) molecules with rod-like mesogen and the polymerizable group are judiciously designed and synthesized, which is strong-colored at linear form and de-coloration at cyclic form after visible light. In the colored state, the DASA presents a striking photothermal effect that is capable of driving the motions of LCN film. Upon visible light irradiation, the DASA becomes colorless, making the diminishing photothermal effect. The light-gated switching of the photothermal effect renders the LCN films to be reconfigurable and perform off-equilibrium motions. The varying glass transition temperature of LCN matrix endowing tunable isomerization rates of DASAs and the equilibrium balance of photo- and thermal-isomerization at different temperatures in LCN-P-DASA film mainly guiding the off-equilibrium or stable motions, providing high adjustability of the novel visible light-driven LCN actuators. The multiply modulated LCN-P-DASA film holds great potential in constructing complex visible light-driven soft actuators based on the synergetic effect and interactions of photochemical and photothermal effects.

Self-Repairable Carbon Fiber-Reinforced Epoxy Vitrimer Actuator with Multistimulus Responses and Programmable Morphing

Smart shape-changing structures in aerospace applications are vulnerable to damage in harsh environments. Balancing high mechanical performance with self-repair capabilities poses a challenge due to inherent trade-offs between strength and flexibility. To address this challenge, an asymmetric bilayer-structured actuator was fabricated using commercially available continuous carbon fiber tows (CFs) as the passive layer and a dynamic cross-linked epoxy vitrimer as the active layer. The construction of the vitrimer-CF actuator involves a simple and scalable hot-pressing process, resulting in a tensile strength of 234 MPa and an interfacial bonding strength of 405 N·m-1. This actuator exhibits remarkable deformation capability (210°/7 s) and an efficient self-repair ability under various stimuli, including thermal (60-160 °C), light (0.4-1.0 W·cm-2), electric (2-4 V), and solvent (acetone). By adjustment of the orientation angle of CFs, complex left-handed and right-handed curling structures can be achieved. Leveraging the insights from photothermal/electrothermal actuation mechanisms, a quadruped crawling robot is developed capable of crawling 4 cm with a single light illumination. The actuator can lift objects 45 times its weight when subjected to light stimuli. Additionally, a flap actuator is constructed to achieve an angle change of 63° within 10 s under an electric stimulus, enabling remote control over the aircraft flight angle. These results demonstrate the potential of the vitrimer-CF actuator for advanced applications in intelligent aerospace structures.

Optically Responsive Hydrogel with Rapid Deformation for Motion Regulation of Magnetic Actuators

Optically and magnetically responsive soft actuators are gaining attention for their noncontact actuation, flexibility, and remote control capabilities. However, they face challenges in rapidly switching motion postures and modes, which limits their performance in complex environments. We developed bilayer hydrogel actuators based on poly(N-isopropylacrylamide) (PNIPAm) using an ice-templating method combined with free radical polymerization. This approach results in the formation of large, interconnected pores within the hydrogel. Under near-infrared light (27 W/cm2), the actuation speed of the actuator reached 38.5°/s, with complete recovery to the original shape 8 s after light cessation. In addition, the reversible changes in stiffness and volume enable the actuators to lock and dynamically adjust their magnetization curve, allowing for the decoupling of deformation and movement as well as the regulation of motion postures and modes. This work opens new pathways for multigait robots and shows promising applications in environmental monitoring and underwater exploration.

Multimodal Soft Robotic Actuation and Locomotion

Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.

Untethered soft actuators for soft standalone robotics

Soft actuators produce the mechanical force needed for the functional movements of soft robots, but they suffer from critical drawbacks since previously reported soft actuators often rely on electrical wires or pneumatic tubes for the power supply, which would limit the potential usage of soft robots in various practical applications. In this article, we review the new types of untethered soft actuators that represent breakthroughs and discuss the future perspective of soft actuators. We discuss the functional materials and innovative strategies that gave rise to untethered soft actuators and deliver our perspective on challenges and opportunities for future-generation soft actuators.

Single-step precision programming of decoupled multiresponsive soft millirobots

Stimuli-responsive soft robots offer new capabilities for the fields of medical and rehabilitation robotics, artificial intelligence, and soft electronics. Precisely programming the shape morphing and decoupling the multiresponsiveness of such robots is crucial to enable them with ample degrees of freedom and multifunctionality, while ensuring high fabrication accuracy. However, current designs featuring coupled multiresponsiveness or intricate assembly processes face limitations in executing complex transformations and suffer from a lack of precision. Therefore, we propose a one-stepped strategy to program multistep shape-morphing soft millirobots (MSSMs) in response to decoupled environmental stimuli. Our approach involves employing a multilayered elastomer and laser scanning technology to selectively process the structure of MSSMs, achieving a minimum machining precision of 30 μm. The resulting MSSMs are capable of imitating the shape morphing of plants and hand gestures and resemble kirigami, pop-up, and bistable structures. The decoupled multistimuli responsiveness of the MSSMs allows them to conduct shape morphing during locomotion, perform logic circuit control, and remotely repair circuits in response to humidity, temperature, and magnetic field. This strategy presents a paradigm for the effective design and fabrication of untethered soft miniature robots with physical intelligence, advancing the decoupled multiresponsive materials through modular tailoring of robotic body structures and properties to suit specific applications.

Optomagnetic Coordination Helical Robot with Shape Transformation and Multimodal Motion Capabilities

Soft robots with magnetic responsiveness exhibit diverse motion modes and programmable shape transformations. While the fixed magnetization configuration facilitates coupling control of robot posture and motion, it limits individual posture control to some extent. This poses a challenge in independently controlling the robot's transformation and motion, restricting its versatile applications. This research introduces a multifunctional helical robot responsive to both light and magnetism, segregating posture control from movements. Light fields assist in robot shaping, achieving a 78% maximum diameter shift. Magnetic fields guide helical robots in multimodal motions, encompassing rotation, flipping, rolling, and spinning-induced propulsion. By controlling multimodal locomotion and shape transformation on demand, helical robots gain enhanced flexibility. This innovation allows them to tightly grip and wirelessly transport designated payloads, showcasing potential applications in drug delivery, soft grippers, and chemical reaction platforms. The unique combination of structural design and control methods holds promise for intelligent robots in the future.

Liquid Crystal Networks Meet Water: It's Complicated!

Soft robots are composed of compliant materials that facilitate high degrees of freedom, shape-change adaptability, and safer interaction with humans. An attractive choice of material for soft robotics is crosslinked networks of liquid crystal polymers (LCNs), as they are responsive to a wide variety of external stimuli and capable of undergoing fast, programmable, complex shape morphing, which allows for their use in a wide range of soft robotic applications. However, unlike hydrogels, another popular material in soft robotics, LCNs have limited applicability in flooded or aquatic environments. This can be attributed not only to the poor efficiency of common LCN actuation methods underwater but also to the complicated relationship between LCNs and water. In this review, the relationship between water and LCNs is elaborated and the existing body of literature is surveyed where LCNs, both hygroscopic and non-hygroscopic, are utilized in aquatic soft robotic applications. Then the challenges LCNs face in widespread adaptation to aquatic soft robotic applications are discussed and, finally, possible paths forward for their successful use in aquatic environments are envisaged.

Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.

Multimodal and Multistimuli 4D-Printed Magnetic Composite Liquid Crystal Elastomer Actuators

Liquid crystal elastomer (LCE)-based soft actuators are being studied for their significant shape-changing abilities when they are exposed to heat or light. Nevertheless, their relatively slow response compared with soft magnetic materials limits their application possibilities. Integration of magnetic responsiveness with LCEs has been previously attempted; however, the LCE response is typically jeopardized in high volumes of magnetic microparticles (MMPs). Here, a multistimuli, magnetically active LCE (MLCE), capable of producing programmable and multimodal actuation, is presented. The MLCE, composed of MMPs within an LCE matrix, is generated through extrusion-based 4D printing that enables digital control of mesogen orientation even at a 1:1 (LCE:MMPs) weight ratio, a challenging task to accomplish with other methods. The printed actuators can significantly deform when thermally actuated as well as exhibit fast response to magnetic fields. When combining thermal and magnetic stimuli, modes of actuation inaccessible with only one input are achieved. For instance, the actuator is reconfigured into various states by using the heat-mediated LCE response, followed by subsequent magnetic addressing. The multistimuli capabilities of the MLCE composite expand its applicability where common LCE actuators face limitations in speed and precision. To illustrate, a beam-steering device developed by using these materials is presented.

Multimode opto-magnetic dual-responsive actuating fibers and fabrics programmed via direct ink writing

Current methods lack one-step actuation programming for weave structures that can achieve multimodal motions in fiber and fabric actuators. Fiber and fabric actuators with dual-response to magnetic fields and near-infrared (NIR) light were fabricated via direct ink writing (DIW) in this work, and have 105.3 J kg-1 energy density, enabling multimodal motions including rolling, grasping, and transportation.

Developments and Challenges of Miniature Piezoelectric Robots: A Review

Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator

Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.

Embedded shape morphing for morphologically adaptive robots

Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot's body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot's body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs' shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.

Electrodeposited Superhydrophilic-Superhydrophobic Composites for Untethered Multi-Stimuli-Responsive Soft Millirobots

To navigate in complex and unstructured real-world environments, soft miniature robots need to possess multiple functions, including autonomous environmental sensing, self-adaptation, and multimodal locomotion. However, to achieve multifunctionality, artificial soft robots should respond to multiple stimuli, which can be achieved by multimaterial integration using facile and flexible fabrication methods. Here, a multimaterial integration strategy for fabricating soft millirobots that uses electrodeposition to integrate two inherently non-adherable materials, superhydrophilic hydrogels and superhydrophobic elastomers, together via gel roots is proposed. This approach enables the authors to electrodeposit sodium alginate hydrogel onto a laser-induced graphene-coated elastomer, which can then be laser cut into various shapes to function as multi-stimuli-responsive soft robots (MSRs). Each MSR can respond to six different stimuli to autonomously transform their shapes, and mimic flowers, vines, mimosas, and flytraps. It is demonstrated that MSRs can climb slopes, switch locomotion modes, self-adapt between air-liquid environments, and transport cargo between different environments. This multimaterial integration strategy enables creating untethered soft millirobots that have multifunctionality, such as environmental sensing, self-propulsion, and self-adaptation, paving the way for their future operation in complex real-world environments.

Thermal-Responsive Liquid Crystal Elastomer Foam-based Compressible and Omnidirectional Gripper

Liquid crystal elastomers (LCEs) are considered to be a promising material for the fabrication of soft grippers because of their large and reversible deformations, an LCE gripper with suitable compressibility and omnidirectionality has not yet been developed. To overcome these obstacles, this study utilizes salt template method to fabricate a rod-like LCE foam as gripper. The thickness of the compressible foam can be reduced by up to 77%, temporarily maintaining the deformation and enabling the gripper to pass through slits. The foam was aligned along the long axis and the length of the foam exhibits reversible thermal responsiveness and contract up to 57% along its alignment. Additionally, when the foam approaches a heat source, the generated temperature gradient results in a contraction gradient owing to the low thermal conductivity of the LCE foam. This in turn causes the foam to reversibly bend with a bending angle up to 93° and follow the movement of a heat source omnidirectionally. The developed gripper successfully grasps, moves, and releases hot objects in a cold and safe place, demonstrating its potential for emergency disposal. Thus, LCE foams can be considered suitable materials for novel gripper design and construction.

A Magnetic-Driven Multi-motion Robot with Position/Orientation Sensing Capability

Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity (position and orientation) are greatly demanded in in situ manipulation in narrow opaque enclosed spaces. Various magnetic robots have been carried out, whereas their deformations normally remain in single mode, and the lack of the robot's real-time status leads to its beyond-sight remagnetization and manipulation being impossible. The function integration of pose sensing and multimode motion is still of challenge. Here, a multimotion thin-film robot is created in a novel multilayer structure with a magnetic-driven layer covered by a heating-sensing conductive layer. Such a heating-sensing layer not only can segmentally and on-demand heat the magnetic-driven layer for in situ magnetization reprogramming and multimode motions but also can precisely detect the robot's pose (position and orientation) from its electrical-resistance effect by creating a small deformation under preset magnetic fields. Under the integration of reprogramming and sensing, necessary multimode motions, i.e., swimming, rolling, crawling, and obstacle-crossing, are achieved under a reprogramming field BRepr of 10 mT, and high-precision poses sensing with an accuracy of ± 3 mm in position and ± 2.5° in orientation is obtained even under a low magnetic strength of BSens of 5 mT, which combined help realize accurate out-of-sight manipulations in the enclosed space environment. Finally, a gastroscope robot for stomach drug delivery has been demonstrated for more gastrointestinal medical treatments.

Pangolin-inspired untethered magnetic robot for on-demand biomedical heating applications

Untethered magnetic miniature soft robots capable of accessing hard-to-reach regions can enable safe, disruptive, and minimally invasive medical procedures. However, the soft body limits the integration of non-magnetic external stimuli sources on the robot, thereby restricting the functionalities of such robots. One such functionality is localised heat generation, which requires solid metallic materials for increased efficiency. Yet, using these materials compromises the compliance and safety of using soft robots. To overcome these competing requirements, we propose a pangolin-inspired bi-layered soft robot design. We show that the reported design achieves heating > 70 °C at large distances > 5 cm within a short period of time <30 s, allowing users to realise on-demand localised heating in tandem with shape-morphing capabilities. We demonstrate advanced robotic functionalities, such as selective cargo release, in situ demagnetisation, hyperthermia and mitigation of bleeding, on tissue phantoms and ex vivo tissues.

Cholesteric Liquid Crystal Polymeric Coatings for Colorful Artificial Muscles and Motile Humidity Sensor Skin Integrated with Magnetic Composites

Structural colorful cholesterics show impressive susceptibility to external stimulation, leading to applications in electro/mechano-chromic devices. However, out-of-plane actuation of structural colorful actuators based on cholesterics and the integration with other stimulation remains underdeveloped. Herein, colorful actuators and motile humidity sensors are developed using humidity-responsive cholesteric liquid crystal networks (CLCNs) and magnetic composites. The developed colorful actuator can exhibit synergistic out-of-plane shape morphing and color change in response to humidity, with CLCNs as colorful artificial muscles. Through the integration with magnetic control, the motile sensor can be navigated to open and confined spaces with the aid of friction to detect local relative humidity. The integration of multi-stimulation actuation of cholesteric magnetic actuators will expand the research frontier of structural colorful actuators and motile sensors for confined spaces.

Shape Morphing Directed by Spatially Encoded, Dually Responsive Liquid Crystalline Elastomer Micro-Actuators

Liquid crystalline elastomers (LCEs) with intrinsic molecular anisotropy can be programmed to morph shapes under external stimuli. However, it is difficult to program the position and orientation of individual mesogenic units separately and locally, whether in-plane or out-of-plane, since each mesogen is linked to adjacent ones through the covalently bonded polymer chains. Here, dually responsive, spindle-shaped micro-actuators are synthesized from LCE composites, which can reorient under a magnetic field and change the shape upon heating. When the discrete micro-actuators are embedded in a conventional and nonresponsive elastomer with programmed height distribution and in-plane orientation in local regions, robust and complex shape morphing induced by the cooperative actuations of the locally distributed micro-actuators, which corroborates with finite element analysis, are shown. The spatial encoding of discrete micro-actuators in a nonresponsive matrix allows to decouple the actuators and the matrix, broadening the material palette to program local and global responses to stimuli for applications including soft robotics, smart wearables, and sensors.

Shape Morphing by Topological Patterns and Profiles in Laser-Cut Liquid Crystal Elastomer Kirigami

Programming shape changes in soft materials requires precise control of the directionality and magnitude of their mechanical response. Among ordered soft materials, liquid crystal elastomers (LCEs) exhibit remarkable and programmable shape shifting when their molecular order changes. In this work, we synthesized, remotely programmed, and modeled reversible and complex morphing in monolithic LCE kirigami encoded with predesigned topological patterns in its microstructure. We obtained a rich variety of out-of-plane shape transformations, including auxetic structures and undulating morphologies, by combining different topological microstructures and kirigami geometries. The spatiotemporal shape-shifting behaviors are well recapitulated by elastodynamics simulations, revealing that the complex shape changes arise from integrating the custom-cut geometry with local director profiles defined by topological defects inscribed in the material. Different functionalities, such as a bioinspired fluttering butterfly, a flower bud, dual-rotation light mills, and dual-mode locomotion, are further realized. Our proposed LCE kirigami with topological patterns opens opportunities for the future development of multifunctional devices for soft robotics, flexible electronics, and biomedicine.

Flagellar Propulsion of Sperm Cells Against a Time-Periodic Interaction Force

Sperm cells undergo complex interactions with external environments, such as a solid-boundary, fluid flow, as well as other cells before arriving at the fertilization site. The interaction with the oviductal epithelium, as a site of sperm storage, is one type of cell-to-cell interaction that serves as a selection mechanism. Abnormal sperm cells with poor swimming performance, the major cause of male infertility, are filtered out by this selection mechanism. In this study, collinear bundles, consisting of two sperm cells, generate propulsive thrusts along opposite directions and allow to observe the influence of cell-to-cell interaction on flagellar wave-patterns. The developed elasto-hydrodynamic model demonstrates that steric and adhesive forces lead to highly symmetrical wave-pattern and reduce the bending amplitude of the propagating wave. It is measured that the free cells exhibit a mean flagellar curvature of 6.4 ± 3.5 rad mm-1 and a bending amplitude of 13.8 ± 2.8 rad mm-1 . After forming the collinear bundle, the mean flagellar curvature and bending amplitude are decreased to 1.8 ± 1.1 and 9.6 ± 1.4 rad mm-1 , respectively. This study presents consistent theoretical and experimental results important for understanding the adaptive behavior of sperm cells to the external time-periodic force encountered during sperm-egg interaction.

Dynamic morphological transformations in soft architected materials via buckling instability encoded heterogeneous magnetization

The geometric reconfigurations in three-dimensional morphable structures have a wide range of applications in flexible electronic devices and smart systems with unusual mechanical, acoustic, and thermal properties. However, achieving the highly controllable anisotropic transformation and dynamic regulation of architected materials crossing different scales remains challenging. Herein, we develop a magnetic regulation approach that provides an enabling technology to achieve the controllable transformation of morphable structures and unveil their dynamic modulation mechanism as well as potential applications. With buckling instability encoded heterogeneous magnetization profiles inside soft architected materials, spatially and temporally programmed magnetic inputs drive the formation of a variety of anisotropic morphological transformations and dynamic geometric reconfiguration. The introduction of magnetic stimulation could help to predetermine the buckling states of soft architected materials, and enable the formation of definite and controllable buckling states without prolonged magnetic stimulation input. The dynamic modulations can be exploited to build systems with switchable fluidic properties and are demonstrated to achieve capabilities of fluidic manipulation, selective particle trapping, sensitivity-enhanced biomedical analysis, and soft robotics. The work provides new insights to harness the programmable and dynamic morphological transformation of soft architected materials and promises benefits in microfluidics, programmable metamaterials, and biomedical applications.

Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots

Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.

On-Demand Maneuver of Millirobots with Reprogrammable Motility by a Hard-Magnetic Coating

Millirobots that can be actuated and accurately steered by external magnetic fields, are highly desirable for bioengineering and wearable devices. However, existing designs of millirobots are limited by their specific material composition, hindering their wider application due to a lack of scalability. Here, we present a method for the generation of heterogeneous magnetic millirobots based on magnetic coatings. The coatings, composed of hard-magnetic CrO₂ particles dispersed in an adhesive solution, impart magnetic actuation to diverse substrates with planar sheets or 3D structures. Millirobots constructed from the coatings can be readily reprogrammed with intricate magnetization profiles using laser localized heating, enabling reconfigurable shape changes under magnetic actuation. Using this approach, we demonstrate on-demand maneuvering capability of reconfiguring locomotion involving crawling, overturning and rolling with a single millirobot. Various functions, including the ability to catch a fast-moving ball, object transportation, and targeted assembly, have been achieved. This adhesive strategy facilitates the design of millirobots and may open avenues to the creation of complex millirobots for broad applications.

Thermal-Responsive Hydrogel Actuators with Photo-Programmable Shapes and Actuating Trajectories

Thermal-responsive hydrogel actuators have aroused a wide scope of research interest and have been extensively studied. However, their actuating behaviors are usually monotonous due to their unchangeable shapes and structures. Here, we report thermal-responsive poly(isopropylacrylamide-co-2-(dimethylamino)ethyl methacrylate)/alginate hydrogels with programmable external shapes and internal actuating trajectories. The volume phase transition temperatures of the resulting hydrogels can be tuned in a wide temperature range from 32 to above 50 °C by adjusting the monomer composition. While the formation and photo-dissociation of Fe³⁺-carboxylate tri-coordinates within the entire hydrogel network enable photo-responsive shape memory property, the insufficient dissociation of the tri-coordinates along the irradiation path gives rise to gradient crosslinking for realizing thermal-responsive actuation. Controlling the evolution of the gradient structure facilitates the regulation of the actuating amplitude. Furthermore, we show that the combination of these two types of shape-changing functionalities leads to more flexible and intricate shape-changing behaviors. One interesting application, a programmable hook with changeable actuating behaviors for lifting different objects with specific shapes, is also demonstrated. The proposed strategy can be extended to other types of actuating hydrogels with more advanced actuating behaviors.

Liquid Metal-Elastomer Composites with Dual-Energy Transmission Mode for Multifunctional Miniature Untethered Magnetic Robots

Miniature untethered robots attract growing interest as they have become more functional and applicable to disruptive biomedical applications recently. Particularly, the soft ones among them exhibit unique merits of compliance, versatility, and agility. With scarce onboard space, these devices mostly harvest energy from environment or physical fields, such as magnetic and acoustic fields and patterned lights. In most cases, one device only utilizes one energy transmission mode (ETM) in powering its activities to achieve programmed tasks, such as locomotion and object manipulation. But real-world tasks demand multifunctional devices that require more energy in various forms. This work reports a liquid metal-elastomer composite with dual-ETM using one magnetic field for miniature untethered multifunctional robots. The first ETM uses the low-frequency (<100 Hz) field component to induce shape-morphing, while the second ETM employs energy transmitted via radio-frequency (20 kHz-300 GHz) induction to power onboard electronics and generate excess heat, enabling new capabilities. These new functions do not disturb the shape-morphing actuated using the first ETM. The reported material enables the integration of electric and thermal functionalities into soft miniature robots, offering a wealth of inspirations for multifunctional miniature robots that leverage developments in electronics to exhibit usefulness beyond self-locomotion.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.

Adaptable Phosphate Networks towards Robust, Reprocessable, Weldable, and Alertable-Yet-Extinguishable Epoxy Vitrimer

Covalent adaptable networks (CANs) combine the uniqueness of thermoplastics and thermosets to allow for reprocessability while being covalently crosslinked. However, it is highly desirable but rarely achieved for CANs to simultaneously demonstrate reversibility and mechanical robustness. Herein, we report a feasible strategy to develop a novel epoxy vitrimer (EV) composed of adaptable phosphate networks (APNs), by which the EVs exhibit promising mechanical properties (tensile strength of 62.5 ~ 87.8 MPa and tensile modulus of 1360.1 ~ 2975.3 MPa) under ambient conditions. At elevated temperatures, the topology rearrangement occurs relied on phosphate transesterification, which contributes to the shape memory performance, self-healing, reprocessing, and welding behaviors. Moreover, the incorporation of APNs allows for improvements in anti-ignition and also the inhibition of both heat release and smoke generation to avoid empyrosis, asphyxiation, and toxication during burning, showing expected intrinsic fire safety. Thermal, mechanical properties, and flame retardancy of the reprocessed EVs after hot pressing are very close to those of the original EVs, which is attributed to the sufficient reversibility of APNs. Accordingly, combining the aforementioned features, EVs are manufactured as flame-triggered switches for fire alarms, which symbolizes the innovative development of high-performance covalent adaptable polymeric materials.

Advances in 4D printing of liquid crystalline elastomers: materials, techniques, and applications

Liquid crystalline elastomers (LCEs) are polymer networks exhibiting anisotropic liquid crystallinity while maintaining elastomeric properties. Owing to diverse polymeric forms and self-alignment molecular behaviors, LCEs have fascinated state-of-the-art efforts in various disciplines other than the traditional low-molar-mass display market. By patterning order to structures, LCEs demonstrate reversible high-speed and large-scale actuations in response to external stimuli, allowing for close integration with 4D printing and architectures of digital devices, which is scarcely observed in homogeneous soft polymer networks. In this review, we collect recent advances in 4D printing of LCEs, with emphases on synthesis and processing methods that enable microscopic changes in the molecular orientation and hence macroscopic changes in the properties of end-use objects. Promising potentials of printed complexes include fields of soft robotics, optics, and biomedical devices. Within this scope, we elucidate the relationships among external stimuli, tailorable morphologies in mesophases of liquid crystals, and programmable topological configurations of printed parts. Lastly, perspectives and potential challenges facing 4D printing of LCEs are discussed.

Locally controllable magnetic soft actuators with reprogrammable contraction-derived motions

Reprogrammable magneto-responsive soft actuators capable of working in enclosed and confined spaces and adapting functions under changing situations are highly demanded for new-generation smart devices. Despite the promising prospect, the realization of versatile morphing modes (more than bending) and local magnetic control remains challenging but is crucial for further on-demand applications. Here, we address the challenges by maximizing the unexplored potential of magnetothermal responsiveness and covalent adaptable networks (CANs) in liquid crystalline elastomers (LCEs). Various magneto-actuated contraction-derived motions that were hard to achieve previously (e.g., bidirectional shrinkage and dynamic 3D patterns) can be attained, reprogrammed, and assembled seamlessly to endow functional diversity and complexity. By integration of LCEs with different magneto-responsive threshold values, local and sequential magnetic control is readily realized. Many magnetic actuation portfolios are performed by rationally imputing "logic switch" sequences. Meanwhile, our systems exhibit additional favorable performances including stepwise magnetic controllability, multiresponsiveness, self-healing, and remolding ability.

Bistable and Multistable Actuators for Soft Robots: Structures, Materials, and Functionalities

Snap-through bistability is often observed in nature (e.g., fast snapping to closure of Venus flytrap) and the life (e.g., bottle caps and hair clippers). Recently, harnessing bistability and multistability in different structures and soft materials has attracted growing interest for high-performance soft actuators and soft robots. They have demonstrated broad and unique applications in high-speed locomotion on land and under water, adaptive sensing and fast grasping, shape reconfiguration, electronics-free controls with a single input, and logic computation. Here, an overview of integrating bistable and multistable structures with soft actuating materials for diverse soft actuators and soft/flexible robots is given. The mechanics-guided structural design principles for five categories of basic bistable elements from 1D to 3D (i.e., constrained beams, curved plates, dome shells, compliant mechanisms of linkages with flexible hinges and deformable origami, and balloon structures) are first presented, alongside brief discussions of typical soft actuating materials (i.e., fluidic elastomers and stimuli-responsive materials such as electro-, photo-, thermo-, magnetic-, and hydro-responsive polymers). Following that, integrating these soft materials with each category of bistable elements for soft bistable and multistable actuators and their diverse robotic applications are discussed. To conclude, perspectives on the challenges and opportunities in this emerging field are considered.

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.

Patterned Actuators via Direct Ink Writing of Liquid Crystals

Soft actuators allowing multifunctional, multishape deformations based on single polymer films or bilayers remain challenging to produce. In this contribution, direct ink writing is used for generating patterned actuators, which are in between single- and bilayer films, with multifunctionality and a plurality of possible shape changes in a single object. The key is to use the controlled deposition of a light-responsive liquid crystal ink with direct ink writing to partially cover a foil at strategic locations. We found patterned films with 40% coverage of the passive substrate by an active material outperformed "standard" fully covered bilayers. By patterning the film as two stripes, a range of motions, including left- and right-handed twisting and bending in orthogonal directions, could be controllably induced in the same actuator. The partial coverage also left space for applying liquid crystal inks with other functionalities, exemplified by fabricating a light-responsive green reflective actuator whose reflection can be switched "on" and "off". The results presented here serve as a toolbox for the design and fabrication of patterned actuators with dramatically expanded shape deformation and functionality capabilities.

Evolving from Laboratory Toys towards Life-Savers: Small-Scale Magnetic Robotic Systems with Medical Imaging Modalities

Small-scale magnetic robots are remotely actuated and controlled by an externally applied magnetic field. These robots have a characteristic size ranging from several millimetres down to a few nanometres. They are often untethered in order to access constrained and hard-to-reach space buried deep in human body. Thus, they promise to bring revolutionary improvement to minimally invasive diagnostics and therapeutics. However, existing research is still mostly limited to scenarios in over-simplified laboratory environment with unrealistic working conditions. Further advancement of this field demands researchers to consider complex unstructured biological workspace. In order to deliver its promised potentials, next-generation small-scale magnetic robotic systems need to address the constraints and meet the demands of real-world clinical tasks. In particular, integrating medical imaging modalities into the robotic systems is a critical step in their evolution from laboratory toys towards potential life-savers. This review discusses the recent efforts made in this direction to push small-scale magnetic robots towards genuine biomedical applications. This review examines the accomplishment achieved so far and sheds light on the open challenges. It is hoped that this review can offer a perspective on how next-generation robotic systems can not only effectively integrate medical imaging methods, but also take full advantage of the imaging equipments to enable additional functionalities.