Processing of Self-Healing Polymers for Soft Robotics

Regulation of Hard Segment Cluster Structures for High-performance Poly(urethane-urea) Elastomers

Elastomers are widely used in daily life; however, the preparation of degradable and recyclable elastomers with high strength, high toughness, and excellent crack resistance remains a challenging task. In this report, a polycaprolactone-based poly(urethane-urea) elastomer is presented with excellent mechanical properties by optimizing the arrangement of hard segment clusters. It is found that long alkyl chains of the chain extenders lead to small and evenly distributed hard segment clusters, which is beneficial for improving mechanical properties. Together with the multiple hydrogen bond structure and stress-induced crystallization, the obtained elastomer exhibits a high strength of 63.3 MPa, an excellent toughness of 431 MJ m-3 and an outstanding fracture energy of 489 kJ m-2, while maintaining good recyclability and degradability. It is believed that the obtained elastomer holds great promise in various application fields and it contributes to the development of a sustainable society.

Practical Applications of Self-Healing Polymers Beyond Mechanical and Electrical Recovery

Self-healing polymeric materials, which can repair physical damage, offer promising prospects for protective applications across various industries. Although prolonged durability and resource conservation are key advantages, focusing solely on mechanical recovery may limit the market potential of these materials. The unique physical properties of self-healing polymers, such as interfacial reduction, seamless connection lines, temperature/pressure responses, and phase transitions, enable a multitude of innovative applications. In this perspective, the diverse applications of self-healing polymers beyond their traditional mechanical strength are emphasized and their potential in various sectors such as food packaging, damage-reporting, radiation shielding, acoustic conservation, biomedical monitoring, and tissue regeneration is explored. With regards to the commercialization challenges, including scalability, robustness, and performance degradation under extreme conditions, strategies to overcome these limitations and promote successful industrialization are discussed. Furthermore, the potential impacts of self-healing materials on future research directions, encompassing environmental sustainability, advanced computational techniques, integration with emerging technologies, and tailoring materials for specific applications are examined. This perspective aims to inspire interdisciplinary approaches and foster the adoption of self-healing materials in various real-life settings, ultimately contributing to the development of next-generation materials.

A Flexible Escape Skin Bioinspired by the Defensive Behavior of Shedding Scales

Artificial skins with functions such as sensing, variable stiffness, actuation, self-healing, display, adhesion, and camouflage have been developed and widely used, but artificial skins with escape function are still a research gap. In nature, every species of animal can use its innate skills and functions to escape capture. Inspired by the behavior of fish-scale geckoes escaping predation by shedding scales when grasped or touched, we propose a flexible escape skin by attaching artificial scales to a flexible film. Experiments demonstrate that the escape skin has significant effects in reducing escape force, escaping from harmful force environments, and resisting mechanical damage. Furthermore, we enabled active control of escape force and skin hardness by changing temperature, increasing the adaptability of the escape skin to the surrounding. Our study helps lay the foundation for engineering systems that depend on escape skin to improve robustness.

Rapid Self-Healing Hydrogel with Ultralow Electrical Hysteresis for Wearable Sensing

Self-healing hydrogels are in high demand for wearable sensing applications due to their remarkable deformability, high ionic and electrical conductivity, self-adhesiveness to human skin, as well as resilience to both mechanical and electrical damage. However, these hydrogels face challenges such as delayed healing times and unavoidable electrical hysteresis, which limit their practical effectiveness. Here, we introduce a self-healing hydrogel that exhibits exceptionally rapid healing with a recovery time of less than 0.12 s and an ultralow electrical hysteresis of less than 0.64% under cyclic strains of up to 500%. This hydrogel strikes an ideal balance, without notable trade-offs, between properties such as softness, deformability, ionic and electrical conductivity, self-adhesiveness, response and recovery times, durability, overshoot behavior, and resistance to nonaxial deformations such as twisting, bending, and pressing. Owing to this unique combination of features, the hydrogel is highly suitable for long-term, durable use in wearable sensing applications, including monitoring body movements and electrophysiological activities on the skin.

Unlocking the potential of self-healing and recyclable ionic elastomers for soft robotics applications

In the field of soft robotics, current materials face challenges related to their load capacity, durability, and sustainability. Innovative solutions are required to address these problems beyond conventional strategies, which often lack long-term ecological viability. This study aims to overcome these limitations using mechanically robust, self-healing, and recyclable ionic elastomers based on carboxylated nitrile rubber (XNBR). The designed materials exhibited excellent mechanical properties, including tensile strengths (TS) exceeding 19 MPa and remarkable deformability, with maximum elongations (EB) over 650%. Moreover, these materials showed high self-healing capabilities, with 100% recovery efficiency of TS and EB at 110 °C after 3 to 5 h, and full recyclability, preserving their mechanical performance even after three recycling cycles. Furthermore, they were also moldable and readily scalable. Tendon-driven soft robotic grippers were successfully developed out of ionic elastomers, illustrating the potential of self-healing and recyclability in the field of soft robotics to reduce maintenance costs, increase material durability, and improve sustainability.

Dynamic Covalent Bonded Gradient Structured Actuators with Mechanical Robustness and Self-Healing Ability

Flexible actuators with excellent adaptability and interaction safety have a wide range of application prospects in many fields. However, current flexible actuators have problems such as fragility and poor actuating ability. Here, inspired by the features of nacre structure, a gradient structured flexible actuator is proposed with mechanical robustness and self-healing ability. By introducing dynamic boronic ester bonds at the interface between MXene nanosheets and epoxy natural rubber matrix, the resulting nanocomposites with ordered micro-nano structures exhibit excellent tensile strength (25.03 MPa) and satisfactory repair efficiency (81.2%). In addition, the gradient distribution structure of MXene nanosheets endows the actuator with stable photothermal conversion capability, which can quickly respond to near-infrared light stimulation. The interlayer dynamic covalent bond crosslinking enables good response speed after multiple bending and is capable of functional self-healing after damage. This work introduces gradient structure and dynamic covalent bonding into flexible actuators, which provides a reference for the fabrication of self-healing soft robots, wearable, and other healable functional materials.

Soft Self-Healing Robot Driven by New Micro Two-Way Shape Memory Alloy Spring

Soft robotic bodies are susceptible to mechanical fatigue, punctures, electrical breakdown, and aging, which can result in the degradation of performance or unexpected failure. To overcome these challenges, a soft self-healing robot is created using a thermoplastic methyl thioglycolate-modified styrene-butadiene-styrene (MG-SBS) elastomer tube fabricated by melt-extrusion, to allow the robot to self-heal autonomously at room temperature. After repeated damage and being separated into several parts, the robot is able to heal its stiffness and elongation to break to enable almost complete recovery of robot performance after being allowed to heal at room temperature for 24 h. The self-healing capability of the robot is examined across the material scale to robot scale by detailed investigations of the healing process, healing efficiency, mechanical characterization of the robot, and assessment of dynamic performance before and after healing. The self-healing robot is driven by a new micro two-way shape-memory alloy (TWSMA) spring actuator which achieved a crawling speed of 21.6 cm/min, equivalent to 1.57 body length per minute. An analytical model of the robot is created to understand the robot dynamics and to act as an efficient tool for self-healing robot design and optimization. This work therefore provides a new methodology to create efficient, robust, and damage-tolerant soft robots.

Bead-Spring Simulation of Ionomer Melts-Studying the Effects of Chain-Length and Associating Group Fraction on Equilibrium Structure and Extensional Flow Behavior

Ionomers are associative polymers with diverse applications ranging from selective membranes and high-performance adhesives to abrasion- and chemical-resistant coatings, insulation layers, vacuum packaging, and foamed sheets. Within equilibrium melt, the ionic or associating groups are known to form thermally reversible, associative clusters whose presence can significantly affect the system's mechanical, viscoelastic, and transport properties. It is, thus, of great interest to understand how to control such clusters' size distribution, shape, and stability through the designed choice of polymer architecture and the ionic groups' fraction, arrangement, and interaction strength. In this work, we represent linear associating polymers using a Kremer-Grest type bead-spring model and perform large-scale MD simulations to explore the effect of polymer chain-length (l) and fraction (fs) of randomly placed associating groups on the size distribution and stability of formed clusters. We consider different chain-lengths (below and above entanglement), varying fractions of associating groups (represented by 'sticky' beads) between 5 and 20%, and a fixed sticky-sticky nonbond interaction strength of four times that between regular non-associating beads. For all melts containing associating groups the equilibrium structure factor S(q) displays a signature ionomer peak at low wave vector q whose intensity increases with increasing fs and l. The average cluster size Nc increases with fs. However, the effect of chain-length on Nc appears to be pronounced only at higher values of fs. Under extensional flows, the computed stress (and viscosity) is higher at higher fs and l regardless of strain rate. Beyond a critical strain rate, we observe fragmentation of the associative clusters, which has interesting effects on the stress/viscous response.

A review on self-healing featured soft robotics

Soft robots are becoming more popular because they can solve issues stiff robots cannot. Soft component and system design have seen several innovations recently. Next-generation robot-human interactions will depend on soft robotics. Soft material technologies integrate safety at the material level, speeding its integration with biological systems. Soft robotic systems must be as resilient as biological systems in unexpected, uncontrolled situations. Self-healing materials, especially polymeric and elastomeric ones, are widely studied. Since most currently under-development soft robotic systems are composed of polymeric or elastomeric materials, this finding may provide immediate assistance to the community developing soft robots. Self-healing and damage-resilient systems are making their way into actuators, structures, and sensors, even if soft robotics remains in its infancy. In the future, self-repairing soft robotic systems composed of polymers might save both money and the environment. Over the last decade, academics and businesses have grown interested in soft robotics. Despite several literature evaluations of the soft robotics subject, there seems to be a lack of systematic research on its intellectual structure and development despite the rising number of articles. This article gives an in-depth overview of the existing knowledge base on damage resistance and self-healing materials' fundamental structure and classifications. Current uses, problems with future implementation, and solutions to those problems are all included in this overview. Also discussed are potential applications and future directions for self-repairing soft robots.

An Ultrahighly Stretchable and Recyclable Starch-Based Gel with Multiple Functions

With the development of various gel-based flexible sensors, novel gels with multiple integrated and efficient properties, particularly recyclability, have been developed. Herein, a starch-based ADM (amylopectin (AP)-poly(3-[dimethyl-[2-(2-methylprop-2- enoyloxy)ethyl]azaniumyl]propane-1-sulfonate) (PDMAPS)-MXene) gel is prepared by a facile "cooking" strategy accompanying the gelatinization of AP and polymerization reaction of zwitterionic monomers. Reversible crosslinking in the gel occurs through hydrogen bonding and electrostatic interactions. The ADM gel exhibits high stretchability (≈2700%, after one month), swift self-healing performance, self-adhesive properties, favorable freezing resistance, and satisfactory moisturizing properties (≥30 days). Interestingly, the ADM gel can be recycled and reused by a "kneading" method and "dissolution-dialysis" process, respectively. Furthermore, the ADM gel can be assembled as a strain sensor with a broad working strain range (≈800%) and quick response time (response time 211 ms and recovery time 253 ms, under 10% strain) to detect various macro- and micro-human-motions, even under harsh conditions such as pronunciation and handwriting. The ADM gel can also be used as a humidity sensor to investigate humidity and human respiratory status, suggesting its practical application in personal health management. This study provides a novel strategy for the preparation of high-performance recycled gels and flexible sensors.

Application of Shape Memory and Self-Healable Polymers/Composites in the Biomedical Field: A Review

Shape memory-assisted self-healing polymers have drawn attention over the past few years owing to their interdisciplinary and wide range of applications. Self-healing and shape memory are two approaches used to improve the applicability of polymers in the biomedical field. Combining both these approaches in a polymer composite opens new possibilities for its use in biomedical applications, such as the "close then heal" concept, which uses the shape memory capabilities of polymers to bring injured sections together to promote autonomous healing. This review focuses on using shape memory-assisted self-healing approaches along with their respective affecting factors for biomedical applications such as tissue engineering, drug delivery, biomaterial-inks, and 4D printed scaffolds, soft actuators, wearable electronics, etc. In addition, quantification of self-healing and shape memory efficiency is also discussed. The challenges and prospects of these polymers for biomedical applications have been summarized.

Rising of Dynamic Polyimide Materials: A Versatile Dielectric for Electrical and Electronic Applications

Polyimides (PIs) are widely used in circuit components, electrical insulators, and power systems in modern electronic devices and large electrical appliances. Electrical/mechanical damage of materials are important factors that threaten reliability and service lifetime. Dynamic (self-healable, recyclable and degradable) PIs, a promising class of materials that successfully improve electrical/mechanical properties after damage, are anticipated to solve this issue. The viewpoints and perspectives on the status and future trends of dynamic PI based on a few existing documents are shared. The main damage forms of PI dielectric materials in the application process are first introduced, and initial strategies and schemes to solve these problems are proposed. Fundamentally, the bottleneck issues faced by the development of dynamic PIs are indicated, and the relationship between various damage forms and the universality of the method is evaluated. The potential mechanism of the dynamic PI to deal with electrical damage is highlighted and several feasible prospective schemes to address electrical damage are discussed. This study is concluded by presenting a short outlook and future improvements to systems, challenges, and solutions of dynamic PI in electrical insulation. The summary of theory and practice should encourage policy development favoring energy conservation and environmental protection and promoting sustainability.

Fast Self-Healing at Room Temperature in Diels-Alder Elastomers

Despite being primarily categorized as non-autonomous self-healing polymers, we demonstrate the ability of Diels-Alder polymers to heal macroscopic damages at room temperature, resulting in complete restoration of their mechanical properties within a few hours. Moreover, we observe immediate partial recovery, occurring mere minutes after reuniting the fractured surfaces. This fast room-temperature healing is accomplished by employing an off-stoichiometric maleimide-to-furan ratio in the polymer network. Through an extensive investigation of seven Diels-Alder polymers, the influence of crosslink density on self-healing, thermal, and (thermo-)mechanical performance was thoroughly examined. Crosslink density variations were achieved by adjusting the molecular weight of the monomers or utilizing the off-stoichiometric maleimide-to-furan ratio. Quasistatic tensile testing, dynamic mechanical analysis, dynamic rheometry, differential scanning calorimetry, and thermogravimetric analysis were employed to evaluate the individual effects of these parameters on material performance. While lowering the crosslink density in the polymer network via decreasing the off-stoichiometric ratio demonstrated the greatest acceleration of healing, it also led to a slight decrease in (dynamic) mechanical performance. On the other hand, reducing crosslink density using longer monomers resulted in faster healing, albeit to a lesser extent, while maintaining the (dynamic) mechanical performance.

Toughening self-healing elastomer crosslinked by metal-ligand coordination through mixed counter anion dynamics

Mechanically tough and self-healable polymeric materials have found widespread applications in a sustainable future. However, coherent strategies for mechanically tough self-healing polymers are still lacking due to a trade-off relationship between mechanical robustness and viscoelasticity. Here, we disclose a toughening strategy for self-healing elastomers crosslinked by metal-ligand coordination. Emphasis was placed on the effects of counter anions on the dynamic mechanical behaviors of polymer networks. As the coordinating ability of the counter anion increases, the binding of the anion leads to slower dynamics, thus limiting the stretchability and increasing the stiffness. Additionally, multimodal anions that can have diverse coordination modes provide unexpected dynamicity. By simply mixing multimodal and non-coordinating anions, we found a significant synergistic effect on mechanical toughness ( > 3 fold) and self-healing efficiency, which provides new insights into the design of coordination-based tough self-healing polymers.

A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water-Stable and Self-Healing Ionic Conductor

Dielectric elastomer actuators (DEAs) are widely exploited for actuating soft machines and granting soft robots with capability to operate in both underwater and on-land environments is important to make them adapt to more complex situations. Here, a DEA-driven, highly robust, amphibious imperceptible soft robot (AISR) based on an all-environment stable ionic conductive material is presented. A soft, self-healable, all-environment stable ionic conductor is developed by introducing cooperative ion-dipole interactions to provide underwater stability as well as efficient suppression of ion penetration. By tuning molecular structures of the material, a 50-time device lifetime increase compared with unmodified [EMI][TFSI]-based devices and excellent underwater actuating performance is achieved. With the synthesized ionic electrode, the DEA-driven soft robot exhibits amphibious functionality to traverse hydro-terrestrial regions. When encountering damage, the robot shows good resilience and can self-heal underwater and it also exhibits imperceptibility to light, sound, and heat.

Research Progress with Membrane Shielding Materials for Electromagnetic/Radiation Contamination

As technology develops at a rapid pace, electromagnetic and radiation pollution have become significant issues. These forms of pollution can cause many important environmental issues. If they are not properly managed and addressed, they will be everywhere in the global biosphere, and they will have devastating impacts on human health. In addition to minimizing sources of electromagnetic radiation, the development of lightweight composite shielding materials to address interference from radiation has become an important area of research. A suitable shielding material can effectively reduce the harm caused by electromagnetic interference/radiation. However, membrane shielding materials with general functions cannot effectively exert their shielding performance in all fields, and membrane shielding materials used in different fields must have specific functions under their use conditions. The aim of this review was to provide a comprehensive review of these issues. Firstly, the causes of electromagnetic/radiation pollution were briefly introduced and comprehensively identified and analyzed. Secondly, the strategic solutions offered by membrane shielding materials to address electromagnetic/radiation problems were discussed. Then, the design concept, technical innovation, and related mechanisms of the existing membrane shielding materials were expounded, the treatment methods adopted by scholars to study the environment and performance change laws were introduced, and the main difficulties encountered in this area of research were summarized. Finally, on the basis of a comprehensive analysis of the protection provided by membrane shielding materials against electromagnetic/radiation pollution, the action mechanism of membrane shielding materials was expounded in detail, and the research progress, structural design and performance characterization techniques for these materials were summarized. In addition, the future challenges were prospected. This review will help universities, research institutes, as well as scientific and technological enterprises engaged in related fields to fully understand the design concept and research progress of electromagnetic/radiation-contaminated membrane shielding materials. In addition, it is hoped that this review will facilitate efforts to accelerate the research and development of membrane shielding materials and offer potential applications in areas such as electronics, nuclear medicine, agriculture, and other areas of industry.

A variable-stiffness and healable pneumatic actuator

Pneumatic-powered actuators are receiving increasing attention due to their widespread applications. However, their inherent low stiffness makes them incompetent in tasks requiring high load capacity or high force output. On the other hand, soft pneumatic actuators are susceptible to damage caused by over-pressuring or punctures by sharp objects. In this work, we designed and synthesized a coordination adaptable network (PETMP-AIM-Cu) with high mechanical rigidity (Young's modulus of 1.9 GPa and elongation <2% before fracturing) as well as excellent variable stiffness property (soft-rigid switching ability σ as high as 3 268 000 when ΔT = 90 °C). Combining PETMP-AIM-Cu with a self-healing elastomer based on dynamic disulfide bonds (LP-PDMS), we fabricated a new pneumatic actuator which shows high load capacity at room temperature, but can also easily deform upon heating and thus can be actuated pneumatically. Benefiting from the excellent self-healing ability of PETMP-AIM-Cu and LP-PDMS, the entire pneumatic actuator can still be actuated after being cut and healed. Such a variable-stiffness and healable pneumatic actuator would be useful for complex environmental applications.

Paving the Way for Synthetic Intrinsically Disordered Polymers for Soft Robotics

Nature is full of examples of processes that, through evolution, have been perfected over the ages to effectively use matter and sustain life. Here, we present our strategies for designing intrinsically disordered smart polymers for soft robotics applications that are bio-inspired by intrinsically disordered proteins. Bio-inspired intrinsically disordered smart and soft polymers designed using our deep understanding of intrinsically disordered proteins have the potential to open new avenues in soft robotics. Together with other desirable traits, such as robustness, dynamic self-organization, and self-healing abilities, these systems possess ideal characteristics that human-made formations strive for but often fail to achieve. Our main aim is to develop materials for soft robotics applications bio-inspired by intrinsically disordered proteins to address what we see as the largest current barriers in the practical deployment of future soft robotics in various areas, including defense. Much of the current literature has focused on the de novo synthesis of tailor-made polymers to perform specific functions. With bio-inspired polymers, the complexity of protein folding mechanisms has limited the ability of researchers to reliably engineer specific structures. Unlike existing studies, our work is focused on utilizing the high flexibility of intrinsically disordered proteins and their self-organization characteristics using synthetic quasi-foldamers.

Intrinsically Self-Healing Polymers: From Mechanistic Insight to Current Challenges

Self-healing materials open new prospects for more sustainable technologies with improved material performance and devices' longevity. We present an overview of the recent developments in the field of intrinsically self-healing polymers, the broad class of materials based mostly on polymers with dynamic covalent and noncovalent bonds. We describe the current models of self-healing mechanisms and discuss several examples of systems with different types of dynamic bonds, from various hydrogen bonds to dynamic covalent bonds. The recent advances indicate that the most intriguing results are obtained on the systems that have combined different types of dynamic bonds. These materials demonstrate high toughness along with a relatively fast self-healing rate. There is a clear trade-off relationship between the rate of self-healing and mechanical modulus of the materials, and we propose design principles of polymers toward surpassing this trade-off. We also discuss various applications of intrinsically self-healing polymers in different technologies and summarize the current challenges in the field. This review intends to provide guidance for the design of intrinsic self-healing polymers with required properties.

Bio-Based, Self-Healing, Recyclable, Reconfigurable Multifunctional Polymers with Both One-Way and Two-Way Shape Memory Properties

Shape memory polymers (SMPs) have attracted wide attention over the past few decades due to their fantastic applications in modern life. Nevertheless, excellent self-healing properties, recyclability, solid-state plasticity, and reversible shape-switching ability are necessary but can rarely be satisfied in one material. Herein, we report multifunctional SMPs by constructing a dynamic boronic ester bond cross-linking network using sustainable Eucommia ulmoides gum as a raw material. Thanks to the crystallization and wide melting temperature range, these kinds of SMPs have thermal-triggered one-way shape memory performance and show two-way shape memory properties, whether under constant stress or stress-free conditions. Owing to the dynamic nature of the boronic ester bond, it exhibits good self-healing properties (near 100% at 80 °C), shape reconfigurability, and chemical recyclability. In addition, by incorporating multiwalled carbon nanotubes, the formed composite is responsive to 808 nm near-infrared light. Its applications are further exploited, including photoresponsive actuators, vascular stents, and light-driven switches. This paper provides a simple way for fabricating multifunctional SMPs, and the as-prepared materials have potential applications in diverse fields, such as biomedicine, intelligent sensing, and soft robotics.

An Interdisciplinary Tutorial: A Self-Healing Soft Finger with Embedded Sensor

In the field of soft robotics, knowledge of material science is becoming more and more important. However, many researchers have a background in only one of both domains. To aid the understanding of the other domain, this tutorial describes the complete process from polymer synthesis over fabrication to testing of a soft finger. Enough background is provided during the tutorial such that researchers from both fields can understand and sharpen their knowledge. Self-healing polymers are used in this tutorial, showing that these polymers that were once a specialty, have become accessible for broader use. The use of self-healing polymers allows soft robots to recover from fatal damage, as shown in this tutorial, which increases their lifespan significantly.

Self-Healing Polymeric Soft Actuators

Natural evolution has provided multicellular organisms with sophisticated functionalities and repair mechanisms for surviving and preserve their functions after an injury and/or infection. In this context, biological systems have inspired material scientists over decades to design and fabricate both self-healing polymeric materials and soft actuators with remarkable performance. The latter are capable of modifying their shape in response to environmental changes, such as temperature, pH, light, electrical/magnetic field, chemical additives, etc. In this review, we focus on the fusion of both types of materials, affording new systems with the potential to revolutionize almost every aspect of our modern life, from healthcare to environmental remediation and energy. The integration of stimuli-triggered self-healing properties into polymeric soft actuators endow environmental friendliness, cost-saving, enhanced safety, and lifespan of functional materials. We discuss the details of the most remarkable examples of self-healing soft actuators that display a macroscopic movement under specific stimuli. The discussion includes key experimental data, potential limitations, and mechanistic insights. Finally, we include a general table providing at first glance information about the nature of the external stimuli, conditions for self-healing and actuation, key information about the driving forces behind both phenomena, and the most important features of the achieved movement.

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.

Bioinspired Colloidal Photonic Composites: Fabrications and Emerging Applications

Organisms in nature have evolved unique structural colors and stimuli-responsive functions for camouflage, warning, and communication over millions of years, which are essential to their survival in harsh conditions. Inspired by these characteristics, colloidal photonic composites (CPCs) composed of colloidal photonic crystals embedded in the polymeric matrix are artificially prepared and show great promise in applications. This review focuses on the summary of building blocks, i.e., colloidal particles and polymeric matrices, and constructive strategies from the perspective of designing CPCs with robust performance and specific functionality. Furthermore, their state-of-the-art applications are also discussed, including colorful coatings, anti-counterfeiting, and regulation of photoluminescence, especially in the field of visualized sensing. Finally, current challenges and potential for future developments in this field are discussed. The purpose of this review is not only to clarify the design principle for artificial CPCs but also to serve as a roadmap for the exploration of next-generation photonic materials.

Self-Healing Bio-Concrete Using Bacillus subtilis Encapsulated in Iron Oxide Nanoparticles

For the creation of healable cement concrete matrix, microbial self-healing solutions are significantly more creative and potentially successful. The current study investigates whether gram-positive "Bacillus subtilis" (B. subtilis) microorganisms can effectively repair structural and non-structural cracks caused at the nano- and microscale. By creating an effective immobilization strategy in a coherent manner, the primary challenge regarding the viability of such microbes in a concrete mixture atmosphere has been successfully fulfilled. The iron oxide nanoparticles were synthesized. The examined immobilizing medium was the iron oxide nanoparticles, confirmed using different techniques (XRD, SEM, EDX, TGA, and FTIR). By measuring the average compressive strength of the samples (ASTM C109) and evaluating healing, the impact of triggered B. subtilis bacteria immobilized on iron oxide nanoparticles was examined. The compressive strength recovery of cracked samples following a therapeutic interval of 28 days served as a mechanical indicator of the healing process. In order to accurately correlate the recovery performance as a measure of crack healing duration, the pre-cracking load was set at 80% of the ultimate compressive stress, or "f c," and the period of crack healing was maintained at 28 days. According to the findings, B. subtilis bacteria greatly enhanced the compressive strength and speed up the healing process in cracked cement concrete mixture. The iron oxide nanoparticles were proven to be the best immobilizer for keeping B. subtilis germs alive until the formation of fractures. The bacterial activity-driven calcite deposition in the generated nano-/micro-cracks was supported by micrographic and chemical investigations (XRD, FTIR, SEM, and EDX).

3D printing of liquid crystal elastomers-based actuator for an inchworm-inspired crawling soft robot

Liquid crystal elastomers (LCEs) have shown great potential as soft actuating materials in soft robots, with large actuation strain and fast response speed. However, to achieve the unique features of actuation, the liquid crystal mesogens should be well aligned and permanently fixed by polymer networks, limiting their practical applications. The recent progress in the 3D printing technologies of LCEs overcame the shortcomings in conventional processing techniques. In this study, the relationship between the 3D printing parameters and the actuation performance of LCEs is studied in detail. Furthermore, a type of inchworm-inspired crawling soft robot based on a liquid crystal elastomeric actuator is demonstrated, coupled with tilted fish-scale-like microstructures with anisotropic friction as the foot for moving forwards. In addition, the anisotropic friction of inclined scales with different angles is measured to demonstrate the performance of anisotropic friction. Lastly, the kinematic performance of the inchworm-inspired robot is tested on different surfaces.

Viscoelastic Characterization of a Thermoplastic Elastomer Processed through Material Extrusion

Objective. We aim to characterize the viscoelastic behavior of Polyether-Block-Amide (PEBA 90A), provide reference values for the parameters of a constitutive model for the simulation of mechanical behaviors, and paying attention to the influence of the manufacturing conditions. Methods. Uniaxial relaxation tests of filaments of PEBA were used to determine the values of the parameters of a Prony series for a Quasi-Linear Visco-Elastic (QLVE) model. Additional, fast cyclic loading tests were used to corroborate the adequacy of the model under different test criteria in a second test situation. Results. The QLVE model predicts the results of the relaxation tests very accurately. In addition, the behavior inferred from this model fits very well with the measurements of fast cyclic loading tests. The viscoelastic behavior of PEBA under small strain polymer fits very well to a six-parameter QLVE model.

Magnetic Self-Healing Composites: Synthesis and Applications

Magnetic composites and self-healing materials have been drawing much attention in their respective fields of application. Magnetic fillers enable changes in the material properties of objects, in the shapes and structures of objects, and ultimately in the motion and actuation of objects in response to the application of an external field. Self-healing materials possess the ability to repair incurred damage and consequently recover the functional properties during healing. The combination of these two unique features results in important advances in both fields. First, the self-healing ability enables the recovery of the magnetic properties of magnetic composites and structures to extend their service lifetimes in applications such as robotics and biomedicine. Second, magnetic (nano)particles offer many opportunities to improve the healing performance of the resulting self-healing magnetic composites. Magnetic fillers are used for the remote activation of thermal healing through inductive heating and for the closure of large damage by applying an alternating or constant external magnetic field, respectively. Furthermore, hard magnetic particles can be used to permanently magnetize self-healing composites to autonomously re-join severed parts. This paper reviews the synthesis, processing and manufacturing of magnetic self-healing composites for applications in health, robotic actuation, flexible electronics, and many more.

Humins Blending in Thermoreversible Diels-Alder Networks for Stiffness Tuning and Enhanced Healing Performance for Soft Robotics

Humins waste valorization is considered to be an essential pathway to improve the economic viability of many biorefinery processes and further promote their circularity by avoiding waste formation. In this research, the incorporation of humins in a Diels-Alder (DA) polymer network based on furan-maleimide thermoreversible crosslinks was studied. A considerable enhancement of the healing efficiency was observed by just healing for 1 h at 60 °C at the expense of a reduction of the material mechanical properties, while the unfilled material showed no healing under the same conditions. Nevertheless, the thermal healing step favored the irreversible humins polycondensation, thus strengthening the material while keeping the enhanced healing performance. Our hypothesis states a synergistic healing mechanism based on humins flowing throughout the damage, followed by thermal humins crosslinking during the healing trigger, together with DA thermoreversible bonds recombination. A multi-material soft robotic gripper was manufactured out of the proposed material, showing not only improved recovery of the functional performance upon healing but also stiffness-tunable features by means of humins thermal crosslinking. For the first time, both damage healing and zone reinforcement for further damage prevention are achieved in a single intrinsic self-healing system.

Near-Infrared-Light-Assisted Self-Healing Graphene-Thermopolyurethane Composite Films

Graphene-thermopolyurethane (G-TPU) composite films were fabricated and the effects of the TPU initial concentration, characteristics of TPU, and graphene loading on the electrical, mechanical, thermal, infrared thermal response and near-infrared-light-assisted self-healing properties of the composite films were investigated in detail. The experimental results demonstrate that the comprehensive performances of the composite film are related to the initial concentration of the TPU solution and the characteristics of the TPU and the graphene loading. The composite film prepared from TPU solution with low initial concentration can have conductivity under the condition of low graphene content. However, the composite film prepared with appropriate initial concentration of TPU solution and high graphene loading is conducive to obtain high conductivity. After 60 s of near-infrared illumination, the temperature of the composite film first increases and then decreases with the increase in graphene loading until it reaches saturation. The near-infrared light thermal response of the composite film with high graphene loading is related to the initial concentration of TPU solution, while the near-IR thermal response of the composite film with low graphene loading is independent of the initial concentration of TPU. The surface micro-cracks of the composite film almost disappeared after 10 min of near-infrared illumination. The resistance of the conductive composite film increases after healed. The composite film prepared with low melting point TPU is more favorable to obtain high near-IR thermal self-healing efficiency.