High-Power Actuation from Molecular Photoswitches in Enantiomerically Paired Soft Springs

Photomodulation of the Mechanical Properties and Photo-Actuation of Chitosan-Based Thin Films Modified with an Azobenzene-Derivative

A sophisticated comprehension of the impacts of photoisomerization and photothermal phenomena on biogenic and responsive materials can provide a guiding framework for future applications. Herein, the procedure to manufacture homogeneous chitosan-based smart thin films are reported by incorporating the light-responsive azobenzene-derivative Sodium-4-[(4-(2-(2-(2-methoxyethoxy)ethoxy)ethoxy)phenyl)diazen-yl]-benzenesulfonate (TEGABS) in the biopolymer through electrostatic interactions. When irradiated with UV-light the TEGABS/chitosan films show a biresponse, comprising the E→Z photoisomerization with a half-life of 13 - 20 h and the light-induced evaporation of residual moisture leading to an increase in the reduced indentation modulus (up to 49%) and hardness. Freestanding films of TEGABS/chitosan show actuation up to 13° while irradiated with UV-light. This work shows the potential of biogenic polysaccharides in the design of biresponsive materials with photomodulated mechanical properties and unveils the link between the humidity of the environment, residual moisture, and the photomodulation of the mechanical properties.

Exploration of molecular machines in supramolecular soft robotic systems

Soft robotic system, a new era of material science, is rapidly developing with advanced processing technology in soft matters, featured with biomimetic nature. An important bottom-up approach is through the implementation of molecular machines into polymeric materials, however, the synchronized molecular motions, acumination of strain across multiple length-scales, and amplification into macroscopic actuations remained highly challenging. This review presents the significances, key design strategies, and outlook of the hierarchical supramolecular systems of molecular machines to develop novel types of supramolecular-based soft robotic systems.

Nanoporous Metal-Organic Framework Thin Films with Embedded Fulgide for Light-Modulated Guest Adsorption and Diffusion

Smart and photoresponsive materials and thin films allow the dynamic remote control of their central properties. By incorporation of photochromic molecules in nanoporous metal-organic frameworks (MOFs), the interaction between the MOF host and the guest molecules in the pores can be modified. Here, a MOF film of type UiO-68 is presented in which the photoswitchable feature is added by embedment of photochromic fulgide molecules of type Aberchrome 670 in the pores. The photoisomerization in the pores is explored by UV-vis and infrared spectroscopy, and the transient uptake of toluene and methanol probe molecules is explored using a quartz crystal microbalance. For the first time, a fulgide-based nanoporous material is used to remote-control the adsorption and diffusion properties. We find that the toluene uptake amount can be increased by 37% and the toluene diffusion coefficient can be increased by 40% when reversibly photoswitching the embedded fulgide from its E-form to C-form. In this way, this study aims to contribute to the field of light-responsive nanoporous materials and thus expands the range of smart coatings.

A Shift from Efficiency to Adaptability: Recent Progress in Biomimetic Interactive Soft Robotics in Wet Environments

Research field of soft robotics develops exponentially since it opens up many imaginations, such as human-interactive robot, wearable robots, and transformable robots in unpredictable environments. Wet environments such as sea and in vivo represent dynamic and unstructured environments that adaptive soft robots can reach their potentials. Recent progresses in soft hybridized robotics performing tasks underwater herald a diversity of interactive soft robotics in wet environments. Here, the development of soft robots in wet environments is reviewed. The authors recapitulate biomimetic inspirations, recent advances in soft matter materials, representative fabrication techniques, system integration, and exemplary functions for underwater soft robots. The authors consider the key challenges the field faces in engineering material, software, and hardware that can bring highly intelligent soft robots into real world.

4D Printing of Liquid Crystals: What's Right for Me?

Recent years have seen major advances in the developments of both additive manufacturing concepts and responsive materials. When combined as 4D printing, the process can lead to functional materials and devices for use in health, energy generation, sensing, and soft robots. Among responsive materials, liquid crystals, which can deliver programmed, reversible, rapid responses in both air and underwater, are a prime contender for additive manufacturing, given their ease of use and adaptability to many different applications. In this paper, selected works are compared and analyzed to come to a didactical overview of the liquid crystal-additive manufacturing junction. Reading from front to back gives the reader a comprehensive understanding of the options and challenges in the field, while researchers already experienced in either liquid crystals or additive manufacturing are encouraged to scan through the text to see how they can incorporate additive manufacturing or liquid crystals into their own work. The educational text is closed with proposals for future research in this crossover field.

Porous Liquid Crystalline Networks with Hydrogel-Like Actuation and Reconfigurable Function

A porous liquid crystalline network (LCN), prepared using a template method, was found to exhibit peculiar actuation functions. The creation of porosity makes the initially hydrophobic LCN behave like a hydrogel, capable of absorbing a large volume of water (up to ten times the sample size of LCN). When the amount of absorbed water is relatively small (about 100% swelling ratio), the porous LCN displays anisotropic swelling in water and, in the same time, the retained uniaxial alignment of mesogens ensures thermally induced shape change associated with LC-isotropic phase transition. Combining the characteristic actuation mechanisms of LCN (order-disorder transition of mesogens) and hydrogel (water absorption), such porous LCN can be explored for versatile stimuli-triggered shape transformations. Moreover, the porosity enables loading/removal/reloading of functional fillers such as ionic liquid, photothermal dye and fluorophore, which imparts a same porous LCN actuator with reconfigurable functions such as ionic conductivity, light-driven locomotion, and emissive color.

Customizable Sophisticated Three-Dimensional Shape Changes of Large-Size Liquid Crystal Elastomer Actuators

Stimuli-responsive liquid crystal elastomers (LCEs), which exhibit sophisticated and versatile shape variations and functions upon stimulations, have constantly interested material science researchers. To date, many challenges still exist in scaling up orientated LCEs with sophisticated physical shapes and multi-functions. Herein, LCEs with various customizable conventional and exotic three-dimensional (3D) shapes and with sizes larger than those previously reported have been prepared by combining magnetic field alignment and soft lithography technology. These LCEs have film, cylinder, ellipsoid, hemispheroid, tube, pyramid, triangle and rectangle frame, grid pattern, cubic frame, and spring shapes. Meanwhile, diversified deformation behaviors such as contraction, expansion, bending, and twisting have been achieved by effectively controlling the alignment directions. Finally, the LCE actuator with hemispheroid shape has been explored for its possible applications in dynamic Braille displays or lenses with adjustable focal length. The simple strategy reported here provides a convenient way to customize multimorphological large-size 3D LCE actuators and their stimuli-responsive deformations. These systems will considerably enlarge the potential applications of LCEs and benefit the development of LCE soft robots and the future special bionic systems.

Chiral Liquid Crystalline Elastomer for Twisting Motion without Preset Alignment of Mesogens

A chiral liquid crystalline elastomer (CLCE) actuator is demonstrated. The solution-cast polydomain film of CLCE can twist upon order-disorder phase transition without any preset alignment of mesogens. The handedness of twisting is specific to the molecular chirality of the chiral dopant in the CLCE structure, while the degree of twisting, in terms of helical pitch and diameter, is sensitive to the aspect ratio and the thickness of the CLCE strip as well as the chiral dopant content. This phenomenon appears to stem from the local twisting forces and deformations of randomly oriented helical domains, which cannot cancel each other out due to the chirality and thus result in a macroscopic "chiral" force acting on the CLCE actuator. This finding reveals a materials design for preparing twisting LCE actuators.

Recent Progress on Plant-Inspired Soft Robotics with Hydrogel Building Blocks: Fabrication, Actuation and Application

Millions of years’ evolution has imparted life on earth with excellent environment adaptability. Of particular interest to scientists are some plants capable of macroscopically and reversibly altering their morphological and mechanical properties in response to external stimuli from the surrounding environment. These intriguing natural phenomena and underlying actuation mechanisms have provided important design guidance and principles for man-made soft robotic systems. Constructing bio-inspired soft robotic systems with effective actuation requires the efficient supply of mechanical energy generated from external inputs, such as temperature, light, and electricity. By combining bio-inspired designs with stimuli-responsive materials, various intelligent soft robotic systems that demonstrate promising and exciting results have been developed. As one of the building materials for soft robotics, hydrogels are gaining increasing attention owing to their advantageous properties, such as ultra-tunable modulus, high compliance, varying stimuli-responsiveness, good biocompatibility, and high transparency. In this review article, we summarize the recent progress on plant-inspired soft robotics assembled by stimuli-responsive hydrogels with a particular focus on their actuation mechanisms, fabrication, and application. Meanwhile, some critical challenges and problems associated with current hydrogel-based soft robotics are briefly introduced, and possible solutions are proposed. We expect that this review would provide elementary tutorial guidelines to audiences who are interested in the study on nature-inspired soft robotics, especially hydrogel-based intelligent soft robotic systems.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Reversibly Photo-Modulating Mechanical Stiffness and Toughness of Bioengineered Protein Fibers

Light-responsive materials have been extensively studied due to the attractive possibility of manipulating their properties with high spatiotemporal control in a non-invasive fashion. This stimulated the development of a series of photo-deformable smart devices. However, it remained a challenge to reversibly modulate the stiffness and toughness of bulk materials. Here, we present bioengineered protein fibers and their optomechanical manipulation by employing electrostatic interactions between supercharged polypeptides (SUPs) and an azobenzene (Azo)-based surfactant. Photo-isomerization of the Azo moiety from the E- to Z-form reversibly triggered the modulation of tensile strength, stiffness, and toughness of the bulk protein fiber. Specifically, the photo-induced rearrangement into the Z-form of Azo possibly strengthened cation-π interactions within the fiber material, resulting in an around twofold increase in the fiber's mechanical performance. The outstanding mechanical and responsive properties open a path towards the development of SUP-Azo fibers as smart stimuli-responsive mechano-biomaterials.

Light-Fueled Nanoscale Surface Waving in Chiral Liquid Crystal Networks

Nano- and micro-actuating systems are promising for application in microfluidics, haptics, tunable optics, and soft robotics. Surfaces capable to change their topography at the nano- and microscale on demand would allow control over wettability, friction, and surface-driven particle motility. Here, we show that light-responsive cholesteric liquid crystal (LC) networks undergo a waving motion of their surface topography upon irradiation with light. These dynamic surfaces are fabricated with a maskless one-step procedure, relying on the liquid crystal alignment in periodic structures upon application of a weak electric field. The geometrical features of the surfaces are controlled by tuning the pitch of the liquid crystal. Pitch control by confinement allows engineering one-dimensional (1D) and two-dimensional (2D) structures that wave upon light exposure. This work demonstrates the potential that self-organizing systems might have for engineering dynamic materials, and harnessing the functionality of molecules to form dynamic surfaces, with nanoscale precision over their waving motion.

Photochemically and Photothermally Controllable Liquid Crystalline Network and Soft Walkers

Developing intelligent soft robots capable to perform various responses to different stimulations has been a hot topic in recent years. Liquid crystalline networks (LCNs) have been considered as one of the most promising candidates in the fabrication of soft actuators because of the combination of elasticity of the polymer and anisotropy of the liquid crystals. However, the design and fabrication of advanced LCN materials with outstanding performances and multiple responsivities is highly demanded but still a challenge. In this work, a NIR-UV dual light-responsive LCN actuator was prepared by selectively coating a polydopamine (PDA) layer on an azobenzene-doped LCN film. This actuator presents UV responsivity in the uncoated region because of the photochemical isomerization of azobenzene and NIR sensitivity in the PDA-coated region originated from the striking photothermal effect. Thanks to the reprogrammable PDA coating, this dual-responsive LCN actuator was totally reprogrammable by coating and washing the PDA layer repeatedly. Based on the novel soft actuator, an artificial car that can imitate the switch of the "forward gear" to "neutral gear" of a real car was prepared. In normal mode, the actuator can move forward under NIR irradiation. After UV light excitation, the actuator cannot move under the same NIR irradiation, just like the car with the level in neutral. This novel actuator may provide inspirations for the fabrication of light-driven functional devices and soft actuators.

Photoswitchable Metal-Organic Framework Thin Films: From Spectroscopy to Remote-Controllable Membrane Separation and Switchable Conduction

The preparation of functional materials from photoswitchable molecules where the molecular changes multiply to macroscopic effects presents a great challenge in material science. An attractive approach is the incorporation of the photoswitches in nanoporous, crystalline metal-organic frameworks, MOFs, often showing remote-controllable chemical and physical properties. Because of the short light-penetration depth, thin MOF films are particularly interesting, allowing the entire illumination of the material. In the present progress report, we review and discuss the status of photoswitchable MOF films. These films may serve as model systems for quantifying the isomer switching yield by infrared and UV-vis spectroscopy as well as for uptake experiments exploring the switching effects on the host-guest interaction, especially on guest adsorption and diffusion. In addition, the straightforward device integration facilitates various experiments. In this way, unique features were demonstrated, such as photoswitchable membrane separation with continuously tunable selectivity, light-switchable proton conductivity of the guests in the pores, and remote-controllable electronic conduction.

4D-Printing of Photoswitchable Actuators

Shape-switching behavior, where a transient stimulus induces an indefinitely stable deformation that can be recovered on exposure to another transient stimulus, is critical to building smart structures from responsive polymers as continue power is not needed to maintain deformations. Herein, we 4D-print shape-switching liquid crystalline elastomers (LCEs) functionalized with supramolecular crosslinks, dynamic covalent crosslinks, and azobenzene. The salient property of shape-switching LCEs is that light induces long-lived, deformation that can be recovered on-demand by heating. UV-light isomerizes azobenzene from trans to cis, and temporarily breaks the supramolecular crosslinks, resulting in a programmed deformation. After UV, the shape-switching LCEs fix more than 90 % of the deformation over 3 days by the reformed supramolecular crosslinks. Using the shape-switching properties, we print Braille-like actuators that can be photoswitched to display different letters. This new class of photoswitchable actuators may impact applications such as deployable devices where continuous application of power is impractical.

Tunable Photothermal Actuation Enabled by Photoswitching of Donor-Acceptor Stenhouse Adducts

We report a visible light-responsive bilayer actuator driven by the photothermal properties of a unique molecular photoswitch: donor-acceptor Stenhouse adduct (DASA). We demonstrate a synthetic platform to chemically conjugate DASA to a load-bearing poly(hexyl methacrylate) (PHMA) matrix via Diels-Alder click chemistry that enables access to stimuli-responsive materials on scale. By taking advantage of the negative photochromism and switching kinetics of DASA, we can tune the thermal expansion and actuation performance of DASA-PHMA under constant light intensity. This extends the capabilities of currently available responsive soft actuators for which mechanical response is determined exclusively by light intensity and enables the use of abundant broadband light sources to trigger tunable responses. We demonstrate actuation performance using a visible light-powered cantilever capable of lifting weight against gravity as well as a simple crawler. These results add a new strategy to the toolbox of tunable photothermal actuation by using the molecular photoswitch DASA.

Supramolecular Chiral Nanoarchitectonics

Exploration of molecular functions and material properties based on the control of chirality would be a scientifically elegant approach. Here, the fabrication and function of chiral-featured materials from both chiral and achiral components using a supramolecular nanoarchitectonics concept are discussed. The contents are classified in to three topics: i) chiral nanoarchitectonics of rather general molecular assemblies; ii) chiral nanoarchitectonics of metal-organic frameworks (MOFs); iii) chiral nanoarchitectonics in liquid crystals. MOF structures are based on nanoscopically well-defined coordinations, while mesoscopic orientations of liquid-crystalline phases are often flexibly altered. Discussion on the effects and features in these representative materials systems with totally different natures reveals the universal importance of supramolecular chiral nanoarchitectonics. Amplification of chiral molecular information from molecules to materials-level structures and the creation of chirality from achiral components upon temporal statistic fluctuations are universal, regardless of the nature of the assemblies. These features are thus surely advantageous characteristics for a wide range of applications.

Arene Substitution Design for Controlled Conformational Changes of Dibenzocycloocta-1,5-dienes

We report that an agile eight-membered cycloalkane can be stabilized by fusing a benzene ring on each side, substituted with proper functional groups. The conformational change of dibenzocycloocta-1,5-diene (DBCOD), a rigid-flexible-rigid organic moiety, from its Boat to Chair conformation requires an activation energy of 42 kJ/mol, which is substantially lower than those of existing submolecular shape-changing units. Experimental data corroborated by theoretical calculations demonstrate that intramolecular hydrogen bonding can stabilize Boat, whereas electron repulsive interaction from opposing ester substituents favors Chair. Intramolecular hydrogen bonding formed by 1,10-diamide substitution stabilizes Boat, spiking the temperature at which Boat and Chair can readily interchange from -60 to 60 °C. Concomitantly this intramolecular attraction raises the energy barrier from 42 kJ/mol for unsubstituted DBCOD to 68 kJ/mol for diamide-substituted DBCOD. Remarkably, this value falls within the range of the activation energy of highly efficient enzyme-catalyzed biological reactions. With shape changes once considered only possible with high energy, our work reveals a potential pathway exemplified by a specific submolecular structure to achieve low-energy-driven shape changes for the first time. The intrinsic cycle stability and high-energy output systems that would incur damage under high-energy stimuli could particularly benefit from this new kind of low-energy-driven shape-changing mechanism. This work has laid the basis to construct systems for low-energy-driven stimuli-responsive applications, hitherto a challenge to overcome.

Plasma-Induced Polymerizations: A New Synthetic Entry in Liquid Crystal Elastomer Actuators

The research on soft actuators including liquid crystal elastomers (LCEs) becomes more and more appealing at a time when the expansion of artificial systems is blooming. Among the various LCE actuators, the bending deformation is often in the origin of many actuation modes. Here, a new strategy with plasma technology is developed to prepare single-layer main-chain LCEs with thermally actuated bending and contraction deformations. Two distinct reactions, plasma polymerization and plasma-induced photopolymerization, are used to polymerize in one step the nematic monomer mixture aligned by magnetic field. The plasma polymerization forms cross-linked but disoriented structures at the surface of the LCE film, while the plasma-induced photopolymerization produces aligned LCE structure in the bulk. The actuation behaviors (bending and/or contraction) of LCE films can be adjusted by plasma power, reaction time, and sample thickness. Soft robots like crawling walker and flower mimic are built by LCE films with bending actuation.

Reversible Actuation via Photoisomerization-Induced Melting of a Semicrystalline Poly(Azobenzene)

Photoisomerization of azobenzene in polymer matrices is a powerful method to convert photon energy into mechanical work. While most previous studies have focused on incorporating azobenzene within amorphous or liquid crystalline materials, the limited extents of molecular ordering and correspondingly modest enthalpy changes upon switching in such systems has limited the achievable energy densities. In this work, we introduce a semicrystalline main-chain poly(azobenzene), where photoisomerization is capable of reversibly triggering melting and recrystallization under essentially isothermal conditions. These materials can be drawn into aligned fibers, yielding optically driven two-way shape memory actuators capable of reversible bending.

Dynamic Assemblies of Molecular Motor Amphiphiles Control Macroscopic Foam Properties

Stimuli-responsive supramolecular assemblies controlling macroscopic transformations with high structural fluidity, i.e., foam properties, have attractive prospects for applications in soft materials ranging from biomedical systems to industrial processes, e.g., textile coloring. However, identifying the key processes for the amplification of molecular motion to a macroscopic level response is of fundamental importance for exerting the full potential of macroscopic structural transformations by external stimuli. Herein, we demonstrate the control of dynamic supramolecular assemblies in aqueous media and as a consequence their macroscopic foam properties, e.g., foamability and foam stability, by large geometrical transformations of dual light/heat stimuli-responsive molecular motor amphiphiles. Detailed insight into the reversible photoisomerization and thermal helix inversion at the molecular level, supramolecular assembly transformations at the microscopic level, and the stimuli-responsive foam properties at the macroscopic level, as determined by UV-vis absorption and NMR spectroscopies, electron microscopy, and foamability and in situ surface tension measurements, is presented. By selective use of external stimuli, e.g., light or heat, multiple states and properties of macroscopic foams can be controlled with very dilute aqueous solutions of the motor amphiphiles (0.2 weight%), demonstrating the potential of multiple stimuli-responsive supramolecular systems based on an identical molecular amphiphile and providing opportunities for future soft materials.

Enlightening Materials with Photoswitches

Incorporating molecular photoswitches into various materials provides unique opportunities for controlling their properties and functions with high spatiotemporal resolution using remote optical stimuli. The great and largely still untapped potential of these photoresponsive systems has not yet been fully exploited due to the fundamental challenges in harnessing geometrical and electronic changes on the molecular level to modulate macroscopic and bulk material properties. Herein, progress made during the past decade in the field of photoswitchable materials is highlighted. After pointing to some general design principles, materials with an increasing order of the integrated photoswitchable units are discussed, spanning the range from amorphous settings over surfaces/interfaces and supramolecular ensembles, to liquid crystalline and crystalline phases. Finally, some potential future directions are pointed out in the conclusion. In view of the exciting recent achievements in the field, the future emergence and further development of light-driven and optically programmable (inter)active materials and systems are eagerly anticipated.

Synergetic Combination of Interfacial Engineering and Shape-Changing Modulation for Biomimetic Soft Robotic Devices

Robotics is a frontal interdisciplinary subject across the fields of mechanical engineering, chemical and materials engineering, artificial intelligence, and nanotechnology. Robotic devices with a variety of frameworks, functionalities, and actuation modes have been developed and employed in the manufacture of advanced materials and devices with improved efficiency and automation. In recent years, soft robots have attracted a significant amount of interest among scientific researchers and technological engineers because they can offer the desired safety, adaptability, sensibility, and dexterity that conventional robotics cannot deliver. To date, emulating living creatures in nature has been a promising approach to design soft robots. For living creatures, both body deformation and their surface characteristic are essential for them to function in dynamic ecological environments. Body deformation offers athletic ability while surface characteristics provide extraordinary adaptable interactions with the environment. In this article, we discuss the recent progress of emulating the body deformation of living creatures such as shrinking/expanding, bending, and twisting and programmable deformations based on the manipulation of shape-changing behaviors of liquid-crystal polymeric materials (LCPs) and the interfacial technologies to build up various microstructures similar to the interface of living creatures. We further review the pioneering work that integrates interfacial engineering and the shape-changing modulation of LCPs to develop biomimetic soft robotic devices. We also provide an outlook for opportunities and challenges in the design and fabrication of advanced biomimetic soft robots based on the synergetic combination of interfacial engineering and shape-changing modulation.

Twist again: Dynamically and reversibly controllable chirality in liquid crystalline elastomer microposts

Photoresponsive liquid crystalline elastomers (LCEs) constitute ideal actuators for soft robots because their light-induced macroscopic shape changes can be harnessed to perform specific articulated motions. Conventional LCEs, however, do not typically exhibit complex modes of bending and twisting necessary to perform sophisticated maneuvers. Here, we model LCE microposts encompassing side-chain mesogens oriented along a magnetically programmed nematic director, and azobenzene cross-linkers, which determine the deformations of illuminated posts. On altering the nematic director orientation from vertical to horizontal, the post's bending respectively changes from light-seeking to light-avoiding. Moreover, both modeling and subsequent experiments show that with the director tilted at 45°, the initially achiral post reversibly twists into a right- or left-handed chiral structure, controlled by the angle of incident light. We exploit this photoinduced chirality to design "chimera" posts (encompassing two regions with distinct director orientations) that exhibit simultaneous bending and twisting, mimicking motions exhibited by the human musculoskeletal system.

Molecular Springs: Integration of Complex Dynamic Architectures into Functional Devices

Molecular/supramolecular springs are artificial nanoscale objects possessing well-defined structures and tunable physicochemical properties. Like a macroscopic spring, supramolecular springs are capable of switching their nanoscale conformation as a response to external stimuli by undergoing mechanical spring-like motions. This dynamic action offers intriguing opportunities for engineering molecular nanomachines by translating the stimuli-responsive nanoscopic motions into macroscopic work. These nanoscopic objects are reversible dynamic multifunctional architectures which can express a variety of novel properties and behave as adaptive nanoscopic systems. In this Minireview, we focus on the design and structure-property relationships of supramolecular springs and their (self-)assembly as a prerequisite towards the generation of novel dynamic materials featuring controlled movements to be readily integrated into macroscopic devices for applications in sensing, robotics, and the internet of things.

Kirigami-Based Light-Induced Shape-Morphing and Locomotion

The development of stimuli-responsive soft actuators, a task largely undertaken by material scientists, has become a major driving force in pushing the frontiers of microrobotics. Devices made of soft active materials are oftentimes small in size, remotely and wirelessly powered/controlled, and capable of adapting themselves to unexpected hurdles. However, nowadays most soft microscale robots are rather simple in terms of design and architecture, and it remains a challenge to create complex 3D soft robots with stimuli-responsive properties. Here, it is suggested that kirigami-based techniques can be useful for fabricating complex 3D robotic structures that can be activated with light. External stress fields introduce out-of-plane deformation of kirigami film actuators made of liquid crystal networks. Such 2D-to-3D structural transformations can give rise to mechanical actuation upon light illumination, thus allowing the realization of kirigami-based light-fuelled robotics. A kirigami rolling robot is demonstrated, where a light beam controls the multigait motion and steers the moving direction in 2D. The device is able to navigate along different routes and moves up a ramp with a slope of 6°. The results demonstrate a facile technique to realize complex and flexible 3D structures with light-activated robotic functions.

Design of Collective Motions from Synthetic Molecular Switches, Rotors, and Motors

Precise control over molecular movement is of fundamental and practical importance in physics, biology, and chemistry. At nanoscale, the peculiar functioning principles and the synthesis of individual molecular actuators and machines has been the subject of intense investigations and debates over the past 60 years. In this review, we focus on the design of collective motions that are achieved by integrating, in space and time, several or many of these individual mechanical units together. In particular, we provide an in-depth look at the intermolecular couplings used to physically connect a number of artificial mechanically active molecular units such as photochromic molecular switches, nanomachines based on mechanical bonds, molecular rotors, and light-powered rotary motors. We highlight the various functioning principles that can lead to their collective motion at various length scales. We also emphasize how their synchronized, or desynchronized, mechanical behavior can lead to emerging functional properties and to their implementation into new active devices and materials.

Photodeformable Azobenzene-Containing Liquid Crystal Polymers and Soft Actuators

Photodeformable liquid crystal polymers (LCPs) that adapt their shapes in response to light have aroused a dramatic growth of interest in the past decades, since light as a stimulus enables the remote control and diverse deformations of materials. This review focuses on the growing research on photodeformable LCPs, including their basic actuation mechanisms, the various deformation modes, the newly designed molecular structures, and the improvement of processing techniques. Special attention is devoted to the novel molecular structures of LCPs, which allow for easy processing and alignment. The soft actuators with various deformation modes such as bending, twisting, and rolling in response to light are also covered with the emphasis on their photo-induced bionic functions. Potential applications in energy harvesting, self-cleaning surfaces, sensors, and photo-controlled microfluidics are further illustrated. The existing challenges and future directions are discussed at the end of this review.

Mechanical adaptability of artificial muscles from nanoscale molecular action

The motion of artificial molecular machines has been amplified into the shape transformation of polymer materials that have been compared to muscles, where mechanically active molecules work together to produce a contraction. In spite of this progress, harnessing cooperative molecular motion remains a challenge in this field. Here, we show how the light-induced action of artificial molecular switches modifies not only the shape but also, simultaneously, the stiffness of soft materials. The heterogeneous design of these materials features inclusions of free liquid crystal in a liquid crystal polymer network. When the magnitude of the intrinsic interfacial tension is modified by the action of the switches, photo-stiffening is observed, in analogy with the mechanical response of activated muscle fibers, and in contrast to melting mechanisms reported so far. Mechanoadaptive materials that are capable of active tuning of rigidity will likely contribute to a bottom-up approach towards human-friendly and soft robotics.

Multi-stimuli-responsive programmable biomimetic actuator

Untethered small actuators have various applications in multiple fields. However, existing small-scale actuators are very limited in their intractability with their surroundings, respond to only a single type of stimulus and are unable to achieve programmable structural changes under different stimuli. Here, we present a multiresponsive patternable actuator that can respond to humidity, temperature and light, via programmable structural changes. This capability is uniquely achieved by a fast and facile method that was used to fabricate a smart actuator with precise patterning on a graphene oxide film by hydrogel microstamping. The programmable actuator can mimic the claw of a hawk to grab a block, crawl like an inchworm, and twine around and grab the rachis of a flower based on their geometry. Similar to the large- and small-scale robots that are used to study locomotion mechanics, these small-scale actuators can be employed to study movement and biological and living organisms.

Untethered small actuators have various applications but existing small-scale actuators are limited in their response to different stimuli. Here, we present a multiresponsive patternable actuator that can respond to humidity, temperature and light, via programmable structural changes.

Photomechanical Azobenzene Crystals

Photomechanically responsive materials are promising candidates for future smart actuator applications. The photo-responsive behaviors originate from the photoisomerization of photochromic molecules. A typical photochromic compound, azobenzene, has been studied extensively in the solution state and has played a crucial role in the photomechanical behaviors of materials such as polymers and gels, via chemical bridging with their matrix. In contrast to polymers and gels, the photomechanical attributes of molecular crystals have not progressed to the same degree, due to their rigidity and fragility. However, the past decade has witnessed an increasing number of reports of the photomechanical motion of molecular crystals, including azobenzene crystals. This paper reviews the current state-of-the-art of mechanically responsive azobenzene crystals, including the history, crystal design strategy, and future promising applications.

Photo- and Redox-Driven Artificial Molecular Motors

Directed motion at the nanoscale is a central attribute of life, and chemically driven motor proteins are nature's choice to accomplish it. Motivated and inspired by such bionanodevices, in the past few decades chemists have developed artificial prototypes of molecular motors, namely, multicomponent synthetic species that exhibit directionally controlled, stimuli-induced movements of their parts. In this context, photonic and redox stimuli represent highly appealing modes of activation, particularly from a technological viewpoint. Here we describe the evolution of the field of photo- and redox-driven artificial molecular motors, and we provide a comprehensive review of the work published in the past 5 years. After an analysis of the general principles that govern controlled and directed movement at the molecular scale, we describe the fundamental photochemical and redox processes that can enable its realization. The main classes of light- and redox-driven molecular motors are illustrated, with a particular focus on recent designs, and a thorough description of the functions performed by these kinds of devices according to literature reports is presented. Limitations, challenges, and future perspectives of the field are critically discussed.

Bending, curling, and twisting in polymeric bilayers

Polyolefin thermoplastic elastomer (POE) bilayers of varying length (L) to width (W) ratio are formed through traditional polymer processing. Each layer is completely isotropic but the bilayers have an elastic recovery mismatch such that when stretched, one layer recovers to a different extent than the other. Upon stretching bilayers from low to moderate strains and releasing the bilayer bends (curvature, κ, κ < 1/L). Stretching to moderate strain and releasing results in bilayer curling (1/L ≤ κ < 1/W). Finally, stretching to high strains and releasing such that κ ≥ 1/W results in twisting into a helix for L/W > 2π bilayers and rolling into a cylinder for L/W < 2π bilayers. Varying W can change the helical pitch, lp, of twisted bilayers. The twisted bilayer helical rise angle varies between θ = 60 and 90°. Metastability, i.e., bilayers that show a combination of the two behaviors, is observed at long absolute L or short absolute W. The bilayers are modeled using Euler-Bernoulli beam theory to show that the curvature can be predicted using the elastic recovery of the layer that recovers more.

Mechanistic Insights into the Self-Assembly of an Acid-Sensitive Photoresponsive Supramolecular Polymer

The supramolecular polymerization of an acid‐sensitive pyridyl‐based ligand (L₁) bearing a photoresponsive azobenzene moiety was elucidated by mechanistic studies. Addition of trifluoroacetic acid (TFA) led to the transformation of the antiparallel H‐bonded fibers of L₁ in methylcyclohexane into superhelical braid‐like fibers stabilized by H‐bonding of parallel‐stacked monomer units. Interestingly, L₁ dimers held together by unconventional pyridine–TFA N⋅⋅⋅H⋅⋅⋅O bridges represent the main structural elements of the assembly. UV‐light irradiation caused a strain‐driven disassembly and subsequent aggregate reconstruction, which ultimately led to short fibers. The results allowed to understand the mechanism of mutual influence of acid and light stimuli on supramolecular polymerization processes, thus opening up new possibilities to design advanced stimuli‐triggered supramolecular systems.

Thermo- and Photoresponsive Actuators with Freestanding Carbon Nitride Films

The development of versatile actuators that convert environmental energy (heat or light, especially sunlight) into mechanical energy remains a great challenge. Herein, freestanding carbon nitride films were prepared by the physical vapor deposition method using bulk g-C₃N₄ powder as a starting material. The carbon nitride films exhibited controllable deformation under the stimuli of heat and light. An alarm device for high temperature and an artificial hand for grasping and releasing objects were designed. By utilizing the photothermal effect, a smart curtain that could block the UV rays and a manipulator that could perform sophisticated mechanical work were demonstrated under the direct irradiation of natural and simulated sunlight. This work exploited the potential applications of carbon nitride polymers for the conversion of solar energy to mechanical energy.