Bio‐inspired Design and Additive Manufacturing of Soft Materials, Machines, Robots, and Haptic Interfaces

Bioinspired Soft Robots with Integrated Biological Motion Mechanisms and Rigid-Flexible Coupling Systems

The inherent flexibility, safety, and biocompatibility of soft robots show significant potential for intelligent biomedical engineering applications. However, the unique operating environments of soft robots, including both in vivo and in vitro conditions, necessitate highly flexible movement capabilities. Optimizing the structural design to enable multi-degree-of-freedom motions is crucial to realize the expansion and deepening of soft robots in this field. Inspired by shape-morphing organisms in nature, researchers have recently developed a variety of bioinspired soft robots (BSR) with morphing capabilities that can realize motions such as bending, twisting, and stretching/contracting. The shape-morphing of organisms is determined by their unique motion mechanisms. This work comprehensively reviews the structure and morphology of typical biological prototypes with different shape-morphing behaviors, motion mechanisms, design strategies of the deformable BSR, and their vast applications in current biomedical engineering. Finally, this review also provides valuable insights into the current challenges and future opportunities for BSR.

Advancement in Soft Hydrogel Grippers: Comprehensive Insights into Materials, Fabrication Strategies, Grasping Mechanism, and Applications

Soft hydrogel grippers have attracted considerable attention due to their flexible/elastic bodies, stimuli-responsive grasping and releasing capacity, and novel applications in specific task fields. To create soft hydrogel grippers with robust grasping of various types of objects, high load capability, fast grab response, and long-time service life, researchers delve deeper into hydrogel materials, fabrication strategies, and underlying actuation mechanisms. This article provides a systematic overview of hydrogel materials used in soft grippers, focusing on materials composition, chemical functional groups, and characteristics and the strategies for integrating these responsive hydrogel materials into soft grippers, including one-step polymerization, additive manufacturing, and structural modification are reviewed in detail. Moreover, ongoing research about actuating mechanisms (e.g., thermal/electrical/magnetic/chemical) and grasping applications of soft hydrogel grippers is summarized. Some remaining challenges and future perspectives in soft hydrogel grippers are also provided. This work highlights the recent advances of soft hydrogel grippers, which provides useful insights into the development of the new generation of functional soft hydrogel grippers.

Localized Ionic Reinforcement of Double Network Granular Hydrogels

Nature produces soft materials with fascinating combinations of mechanical properties. For example, the mussel byssus embodies a combination of stiffness and toughness, a feature that is unmatched by synthetic hydrogels. Key to enabling these excellent mechanical properties are the well-defined structures of natural materials and their compositions controlled on lengths scales down to tens of nanometers. The composition of synthetic materials can be controlled on a micrometer length scale if processed into densely packed microgels. However, these microgels are typically soft. Microgels can be stiffened by enhancing interactions between particles, for example through the formation of covalent bonds between their surfaces or a second interpenetrating hydrogel network. Nonetheless, changes in the composition of these synthetic materials occur on a micrometer length scale. Here, 3D printable load-bearing granular hydrogels are introduced whose composition changes on the tens of nanometer length scale. The hydrogels are composed of jammed microgels encompassing tens of nm-sized ionically reinforced domains that increase the stiffness of double network granular hydrogels up to 18-fold. The printability of the ink and the local reinforcement of the resulting granular hydrogels are leveraged to 3D print a butterfly with composition and structural changes on a tens of nanometer length scale.

Text-to-Microstructure Generation Using Generative Deep Learning

Designing novel materials is greatly dependent on understanding the design principles, physical mechanisms, and modeling methods of material microstructures, requiring experienced designers with expertise and several rounds of trial and error. Although recent advances in deep generative networks have enabled the inverse design of material microstructures, most studies involve property-conditional generation and focus on a specific type of structure, resulting in limited generation diversity and poor human-computer interaction. In this study, a pioneering text-to-microstructure deep generative network (Txt2Microstruct-Net) is proposed that enables the generation of 3D material microstructures directly from text prompts without additional optimization procedures. The Txt2Microstruct-Net model is trained on a large microstructure-caption paired dataset that is extensible using the algorithms provided. Moreover, the model is sufficiently flexible to generate different geometric representations, such as voxels and point clouds. The model's performance is also demonstrated in the inverse design of material microstructures and metamaterials. It has promising potential for interactive microstructure design when associated with large language models and could be a user-friendly tool for material design and discovery.

Photo-steered rapid and multimodal locomotion of 3D-printed tough hydrogel robots

Hydrogels are an ideal material to develop soft robots. However, it remains a grand challenge to develop miniaturized hydrogel robots with mechanical robustness, rapid actuation, and multi-gait motions. Reported here is a facile strategy to fabricate hydrogel-based soft robots by three-dimensional (3D) printing of responsive and nonresponsive tough gels for programmed morphing and locomotion upon stimulations. Highly viscoelastic poly(acrylic acid-co-acrylamide) and poly(acrylic acid-co-N-isopropyl acrylamide) aqueous solutions, as well as their mixtures, are printed with multiple nozzles into 3D constructs followed by incubation in a solution of zirconium ions to form robust carboxyl-Zr4+ coordination complexes, to produce tough metallo-supramolecular hydrogel fibers. Gold nanorods are incorporated into ink to afford printed gels with response to light. Owing to the mechanical excellence and small diameter of gel fibers, the printed hydrogel robots exhibit high robustness, fast response, and agile motions when remotely steered by dynamic light. The design of printed constructs and steering with spatiotemporal light allow for multimodal motions with programmable trajectories of the gel robots. The hydrogel robots can walk, turn, flip, and transport cargos upon light stimulations. Such printed hydrogels with good mechanical performances, fast response, and agile locomotion may open opportunities for soft robots in biomedical and engineering fields.

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.

Nanocomposite Hydrogel Actuators with Ordered Structures: From Nanoscale Control to Macroscale Deformations

Flexible intelligent actuators with the characteristics of flexibility, safety and scalability, are highly promising in industrial production, biomedical fields, environmental monitoring, and soft robots. Nanocomposite hydrogels are attractive candidates for soft actuators due to their high pliability, intelligent responsiveness, and capability to execute large-scale rapid reversible deformations under external stimuli. Here, the recent advances of nanocomposite hydrogels as soft actuators are reviewed and focus is on the construction of elaborate and programmable structures by the assembly of nano-objects in the hydrogel matrix. With the help of inducing the gradient or oriented distributions of the nanounits during the gelation process by the external forces or molecular interactions, nanocomposite hydrogels with ordered structures are achieved, which can perform bending, spiraling, patterned deformations, and biomimetic complex shape changes. Given great advantages of these intricate yet programmable shape-morphing, nanocomposite hydrogel actuators have presented high potentials in the fields of moving robots, energy collectors, and biomedicines. In the end, the challenges and future perspectives of this emerging field of nanocomposite hydrogel actuators are proposed.

Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics

Adapting grasp-specialized biomechanical structures into current research with 3D-printed prostheses may improve robotic dexterity in grasping a wider variety of objects. Claw variations across various bird species lend biomechanical advantages for grasping motions related to perching, climbing, and hunting. Designs inspired by bird claws provide improvements beyond a human-inspired structure for specific grasping applications to offer a solution for mitigating a cause of the high rejection rate for upper-limb prostheses. This research focuses on the design and manufacturing of two robotic test devices with different toe arrangements. The first, anisodactyl (three toes at the front, one at the back), is commonly found in birds of prey such as falcons and hawks. The second, zygodactyl (two toes at the front, two at the back), is commonly found in climbing birds such as woodpeckers and parrots. The evaluation methods for these models included a qualitative variable-object grasp assessment. The results highlighted design features that suggest an improved grasp: a small and central palm, curved distal digit components, and a symmetrical digit arrangement. A quantitative grip force test demonstrated that the single digit, the anisodactyl claw, and the zygodactyl claw designs support loads up to 64.3 N, 86.1 N, and 74.1 N, respectively. These loads exceed the minimum mechanical load capabilities for prosthetic devices. The developed designs offer insights into how biomimicry can be harnessed to optimize the grasping functionality of upper-limb prostheses.

A bio-inspired silkworm 3D cocoon-like hierarchical self-assembled structure from π-conjugated natural aromatic amino acids

The formation of spontaneous 3D self-assembled hierarchical structures from 1D nanofibers is a significant breakthrough in materials science. Overcoming the major challenges associated with developing these 3D structures, such as uncontrolled self-assembly, complex procedures, and machinery, has been a formidable task. However, the current discovery reveals that simple π-system (fluorenyl)-functionalized natural aromatic amino acids, phenylalanine (Fmoc-F) and tyrosine (Fmoc-Y), can form bio-inspired 3D cocoon-like structures. These structures are composed of entangled 1D nanofibers created through supramolecular self-assembly using a straightforward one-step process of solvent casting. The self-assembly process relies on π-π stacking of the fluorenyl (π-system) moieties and intermolecular hydrogen bonding between urethane amide groups. The cocoon-like structures are versatile and independent of concentration, temperature, and humidity, making them suitable for various applications. This discovery has profound implications for materials science and the developed advanced biomaterials, such as Fmoc-F and Fmoc-Y, can serve as flexible foundational components for constructing 3D fiber-based structures.

Flexible and Stretchable Light-Emitting Diodes and Photodetectors for Human-Centric Optoelectronics

Optoelectronic devices with unconventional form factors, such as flexible and stretchable light-emitting or photoresponsive devices, are core elements for the next-generation human-centric optoelectronics. For instance, these deformable devices can be utilized as closely fitted wearable sensors to acquire precise biosignals that are subsequently uploaded to the cloud for immediate examination and diagnosis, and also can be used for vision systems for human-interactive robotics. Their inception was propelled by breakthroughs in novel optoelectronic material technologies and device blueprinting methodologies, endowing flexibility and mechanical resilience to conventional rigid optoelectronic devices. This paper reviews the advancements in such soft optoelectronic device technologies, honing in on various materials, manufacturing techniques, and device design strategies. We will first highlight the general approaches for flexible and stretchable device fabrication, including the appropriate material selection for the substrate, electrodes, and insulation layers. We will then focus on the materials for flexible and stretchable light-emitting diodes, their device integration strategies, and representative application examples. Next, we will move on to the materials for flexible and stretchable photodetectors, highlighting the state-of-the-art materials and device fabrication methods, followed by their representative application examples. At the end, a brief summary will be given, and the potential challenges for further development of functional devices will be discussed as a conclusion.

Dual Ratiometric Fluorescence Monitoring of Mechanical Polymer Chain Stretching and Subsequent Strain-Induced Crystallization

Tracking the behavior of mechanochromic molecules provides valuable insights into force transmission and associated microstructural changes in soft materials under load. Herein, we report a dual ratiometric fluorescence (FL) analysis for monitoring both mechanical polymer chain stretching and strain-induced crystallization (SIC) of polymers. SIC has recently attracted renewed attention as an effective mechanism for improving the mechanical properties of polymers. A polyurethane (PU) film incorporating a trace of a dual-emissive flapping force probe (N-FLAP, 0.008 wt %) exhibited a blue-to-green FL spectral change in a low-stress region (<20 MPa), resulting from conformational planarization of the probe in mechanically stretched polymer chains. More importantly, at higher probe concentrations (∼0.65 wt %), the PU film showed a second spectral change from green to yellow during the SIC growth (20-65 MPa) due to self-absorption of scattered FL in a short wavelength region. The reversibility of these spectral changes was demonstrated by load-unload cycles. With these results in hand, the degrees of the polymer chain stretching and the SIC were quantitatively mapped and monitored by dual ratiometric imaging based on different FL ratios (I525/I470 and I525/I600). Simultaneous analysis of these two mappings revealed a spatiotemporal gap in the distribution of the polymer chain stretching and the SIC. The combinational use of the dual-emissive force probe and the ratiometric FL imaging is a universal approach for the development of soft matter physics.

Characterization of Photocurable IP-PDMS for Soft Micro Systems Fabricated by Two-Photon Polymerization 3D Printing

Recent developments in micro-scale additive manufacturing (AM) have opened new possibilities in state-of-the-art areas, including microelectromechanical systems (MEMS) with intrinsically soft and compliant components. While fabrication with soft materials further complicates micro-scale AM, a soft photocurable polydimethylsiloxane (PDMS) resin, IP-PDMS, has recently entered the market of two-photon polymerization (2PP) AM. To facilitate the development of microdevices with soft components through the application of 2PP technique and IP-PDMS material, this research paper presents a comprehensive material characterization of IP-PDMS. The significance of this study lies in the scarcity of existing research on this material and the thorough investigation of its properties, many of which are reported here for the first time. Particularly, for uncured IP-PDMS resin, this work evaluates a surface tension of 26.7 ± 4.2 mN/m, a contact angle with glass of 11.5 ± 0.6°, spin-coating behavior, a transmittance of more than 90% above 440 nm wavelength, and FTIR with all the properties reported for the first time. For cured IP-PDMS, novel characterizations include a small mechanical creep, a velocity-dependent friction coefficient with glass, a typical dielectric permittivity value of 2.63 ± 0.02, a high dielectric/breakdown strength for 3D-printed elastomers of up to 73.3 ± 13.3 V/µm and typical values for a spin coated elastomer of 85.7 ± 12.4 V/µm, while the measured contact angle with water of 103.7 ± 0.5°, Young's modulus of 5.96 ± 0.2 MPa, and viscoelastic DMA mechanical characterization are compared with the previously reported values. Friction, permittivity, contact angle with water, and some of the breakdown strength measurements were performed with spin-coated cured IP-PDMS samples. Based on the performed characterization, IP-PDMS shows itself to be a promising material for micro-scale soft MEMS, including microfluidics, storage devices, and micro-scale smart material technologies.

Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems

Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.

Bioinspired Additive Manufacturing of Hierarchical Materials: From Biostructures to Functions

Throughout billions of years, biological systems have evolved sophisticated, multiscale hierarchical structures to adapt to changing environments. Biomaterials are synthesized under mild conditions through a bottom-up self-assembly process, utilizing substances from the surrounding environment, and meanwhile are regulated by genes and proteins. Additive manufacturing, which mimics this natural process, provides a promising approach to developing new materials with advantageous properties similar to natural biological materials. This review presents an overview of natural biomaterials, emphasizing their chemical and structural compositions at various scales, from the nanoscale to the macroscale, and the key mechanisms underlying their properties. Additionally, this review describes the designs, preparations, and applications of bioinspired multifunctional materials produced through additive manufacturing at different scales, including nano, micro, micro-macro, and macro levels. The review highlights the potential of bioinspired additive manufacturing to develop new functional materials and insights into future directions and prospects in this field. By summarizing the characteristics of natural biomaterials and their synthetic counterparts, this review inspires the development of new materials that can be utilized in various applications.

Digital light processing 3D printing of dynamic magneto-responsive thiol-acrylate composites

Additive manufacturing is one of the most promising processing techniques for fabricating customized 3D objects. For the 3D printing of functional and stimuli-triggered devices, interest is steadily growing in processing materials with magnetic properties. Synthesis routes for magneto-responsive soft materials typically involve the dispersion of (nano)particles into a non-magnetic polymer matrix. Above their glass transition temperature, the shape of such composites can be conveniently adjusted by applying an external magnetic field. With their rapid response time, facile controllability, and reversible actuation, magnetically responsive soft materials can be used in the biomedical field (e.g. drug delivery, minimally invasive surgery), soft robotics or in electronic applications. Herein, we combine the magnetic response with thermo-activated healability by introducing magnetic Fe₃O₄ nanoparticles into a dynamic photopolymer network, which undergoes thermo-activated bond exchange reactions. The resin is based on a radically curable thiol-acrylate system, whose composition is optimized towards processability via digital light processing 3D printing. A mono-functional methacrylate phosphate is applied as a stabilizer to increase the resins' shelf life by preventing thiol-Michael reactions. Once photocured, the organic phosphate further acts as a transesterification catalyst and activates bond exchange reactions at elevated temperature, which render the magneto-active composites mendable and malleable. The healing performance is demonstrated by recovering magnetic and mechanical properties after the thermally triggered mending of 3D-printed structures. We further demonstrate the magnetically driven movement of 3D-printed samples, which gives rise to the potential use of these materials in healable soft devices activated by external magnetic fields.

A Generalised Time-Dependent Mathematical Formulation for Magnetoelectrically Coupled Soft Solids at Finite Strains

To date, the mechanical models of magnetoelectric couplings at finite strains have mainly been limited to time-independent constitutive equations. This paper enhances the literature by developing a time-dependent electromagnetic constitutive equation to characterise the mechanical behaviour of soft solids at finite strains and take into account the full form of the Maxwell equations. Our formulation introduces a symmetrical total stress and uses recently developed spectral invariants in the amended energy function; as a result, the proposed constitutive equation is relatively simple and is amenable to a finite-element formulation.

Early career scientists converse on the future of soft robotics

During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.

Estimation of Fast and Slow Adaptions in the Tactile Sensation of Mechanoreceptors Mimicked by Hybrid Fluid (HF) Rubber with Equivalent Electric Circuits and Properties

In order to advance engineering applications of robotics such as wearable health-monitoring devices, humanoid robots, etc., it is essential to investigate the tactile sensations of artificial haptic sensors mimicking bioinspired human cutaneous mechanoreceptors such as free nerve endings, Merkel's cells, Krause end bulbs, Meissner corpuscles, Ruffini endings, and Pacinian corpuscles. The generated receptor's potential response to extraneous stimuli, categorized as slow adaption (SA) or fast adaption (FA), is particularly significant as a typical property. The present study addressed the estimation of SA and FA by utilizing morphologically fabricated mechanoreceptors made of our proposed magnetically responsive intelligent fluid, hybrid fluid (HF), and by applying our proposed electrolytic polymerization. Electric circuit models of the mechanoreceptors were generated using experimental data on capacitance and inductance on the basis of the electric characteristics of impedance. The present results regarding equivalent firing rates based on FA and SA are consistent with the FA and SA findings of vital mechanoreceptors by biomedical analysis. The present investigative process is useful to clarify the time of response to a force on the fabricated artificial mechanoreceptor.

A Novel Approach for Multiple Material Extrusion in Arthroscopic Knee Surgery

Articular cartilage defects and degenerative diseases are pathological conditions that cause pain and the progressive loss of joint functionalities. The most severe cases are treated through partial or complete joint replacement with prostheses, even if the interest in cartilage regeneration and re-growth methods is steadily increasing. These methods consist of the targeted deposition of biomaterials. Only a few tools have been developed so far for performing these procedures in a minimally invasive way. This work presents an innovative device for the direct deposition of multiple biomaterials in an arthroscopic scenario. The tool is easily handleable and allows the extrusion of three different materials simultaneously. It is also equipped with a flexible tip to reach remote areas of the damaged cartilage. Three channels are arranged coaxially and a spring-based dip-coating approach allows the fabrication and assembly of a bendable polymeric tip. Experimental tests were performed to characterize the tip, showing the ability to bend it up to 90° (using a force of ~ 1.5 N) and to extrude three coaxial biomaterials at the same time with both tip straight and tip fully bent. Rheometric analysis and fluid-dynamic computational simulations were performed to analyze the fluids' behavior; the maximum shear stresses were observed in correspondence to the distal tip and the channel convergence chamber, but with values up to ~ 1.2 kPa, compatible with a safe extrusion of biomaterials, even laden with cells. The cells viability was assessed after the extrusion with Live/Dead assay, confirming the safety of the extrusion procedures. Finally, the tool was tested arthroscopically in a cadaveric knee, demonstrating its ability to deliver the biomaterial in different areas, even ones that are typically hard-to-reach with traditional tools.

Raw Materials, Technology, Healthcare Applications, Patent Repository and Clinical Trials on 4D Printing Technology: An Updated Review

After the successful commercial exploitation of 3D printing technology, the advanced version of additive manufacturing, i.e., 4D printing, has been a new buzz in the technology-driven industries since 2013. It is a judicious combination of 3D printing technologies and smart materials (stimuli responsive), where time is the fourth dimension. Materials such as liquid crystal elastomer (LCE), shape memory polymers, alloys and composites exhibiting properties such as self-assembling and self-healing are used in the development/manufacturing of these products, which respond to external stimuli such as solvent, temperature, light, etc. The technologies being used are direct ink writing (DIW), fused filament fabrication (FFF), etc. It offers several advantages over 3D printing and has been exploited in different sectors such as healthcare, textiles, etc. Some remarkable applications of 4D printing technology in healthcare are self-adjusting stents, artificial muscle and drug delivery applications. Potential of applications call for further research into more responsive materials and technologies in this field. The given review is an attempt to collate all the information pertaining to techniques employed, raw materials, applications, clinical trials, recent patents and publications specific to healthcare products. The technology has also been evaluated in terms of regulatory perspectives. The data garnered is expected to make a strong contribution to the field of technology for human welfare and healthcare.

Autonomous self-healing optical sensors for damage intelligent soft-bodied systems

We introduce damage intelligent soft-bodied systems via a network of self-healing light guides for dynamic sensing (SHeaLDS). Exploiting the intrinsic damage resilience of light propagation in an optical waveguide, in combination with a tough, transparent, and autonomously self-healing polyurethane urea elastomer, SHeaLDS enables damage resilient and intelligent robots by self-healing cuts as well as detecting this damage and controlling the robot's actions accordingly. With optimized material and structural design for hyperelastic deformation of the robot and autonomous self-healing capacity, SHeaLDS provides reliable dynamic sensing at large strains (ε = 140%) with no drift or hysteresis, is resistant to punctures, and self-heals from cuts at room temperature with no external intervention. As a demonstration of utility, a soft quadruped protected by SHeaLDS detects and self-heals from extreme damage (e.g., six cuts on one leg) in 1 min and monitors and adapts its gait based on the damage condition autonomously through feedback control.

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.

Fluidic innervation sensorizes structures from a single build material

Multifunctional materials with distributed sensing and programmed mechanical properties are required for myriad emerging technologies. However, current fabrication techniques constrain these materials' design and sensing capabilities. We address these needs with a method for sensorizing architected materials through fluidic innervation, where distributed networks of empty, air-filled channels are directly embedded within an architected material's sparse geometry. By measuring pressure changes within these channels, we receive feedback regarding material deformation. Thus, this technique allows for three-dimensional printing of sensorized structures from a single material. With this strategy, we fabricate sensorized soft robotic actuators on the basis of handed shearing auxetics and accurately predict their kinematics from the sensors' proprioceptive feedback using supervised learning. Our strategy for facilitating structural, sensing, and actuation capabilities through control of form alone simplifies sensorized material design for applications spanning wearables, smart structures, and robotics.

Electrochemical Detection of a Few Copies of Unamplified SARS-CoV-2 Nucleic Acids by a Self-Actuated Molecular System

The existing electrochemical biosensors lack controllable and intelligent merit to modulate the sensing process upon external stimulus, leading to challenges in analyzing a few copies of biomarkers in unamplified samples. Here, we present a self-actuated molecular-electrochemical system that consists of a tentacle and a trunk modification on a graphene microelectrode. The tentacle that contains a probe and an electrochemical label keeps an upright orientation, which increases recognition efficiency while decreasing the pseudosignal. Once the nucleic acids are recognized, the tentacles nearby along with the labels are spontaneously actuated downward, generating electrochemical responses under square wave voltammetry. Thus, it detects unamplified SARS-CoV-2 RNAs within 1 min down to 4 copies in 80 μL, 2-6 orders of magnitude lower than those of other electrochemical assays. Double-blind testing and 10-in-1 pooled testing of nasopharyngeal samples yield high overall agreement with reverse transcription-polymerase chain reaction results. We fabricate a portable prototype based on this system, showing great potential for future applications.

Direct Ink Writing of Recyclable Supramolecular Soft Actuators

Direct ink writing (DIW) of liquid crystal elastomers (LCEs) has rapidly paved its way into the field of soft actuators and other stimuli-responsive devices. However, currently used LCE systems for DIW require postprinting (photo)polymerization, thereby forming a covalent network, making the process time-consuming and the material nonrecyclable. In this work, a DIW approach is developed for printing a supramolecular poly(thio)urethane LCE to overcome these drawbacks of permanent cross-linking. The thermo-reversible nature of the supramolecular cross-links enables the interplay between melt-processable behavior required for extrusion and formation of the network to fix the alignment. After printing, the actuators demonstrated a reversible contraction of 12.7% or bending and curling motions when printed on a passive substrate. The thermoplastic ink enables recyclability, as shown by cutting and printing the actuators five times. However, the actuation performance diminishes. This work highlights the potential of supramolecular LCE inks for DIW soft circular actuators and other devices.

Soft particles facilitate flow of rigid particles in a 2D hopper

The flow of granular materials through narrow openings governs flow and process efficiency in a variety of industrial settings. As the use of soft particles and other soft micro-materials becomes more widespread in consumer products, we seek to understand characteristics of granular flows beyond powder flows. We study clogging through a 2D hopper in systems consisting of a combination of soft and rigid particles of different sizes and mixing fractions. Our experimental results show that soft particles play a lubricating role in the flow of rigid spheres due to their deformability and slick surface, but the size of rigid particles influences clogging more than the size of soft ones. We simulate our results using a modification of the Durian bubble model to accommodate mixtures of particles of different softness. Without any adjustable parameters, the simulation results capture the clogging probability of soft-rigid particle mixtures through a 2D hopper.

Phase-Change-Enabled, Rapid, High-Resolution Direct Ink Writing of Soft Silicone

Soft silicone is an ideal flexible material for application, e.g., in soft robotics, flexible electronics, bionics, or implantable biomedical devices. However, gravity-driven sagging, filament stretching, and deformation can cause inevitable defects during rapid manufacturing, making it hard to obtain complex, high-resolution 3D silicone structures with direct ink writing (DIW) technology. Here, rapid DIW of soft silicone enabled by a phase-change-induced, reversible change of the ink's hierarchical microstructure is presented. During printing, the silicone-based ink, containing silica nanoparticles and wax microparticles, is extruded from a heated nozzle into a cold environment under controlled stress. The wax phase change (solid-liquid-solid) during printing rapidly destroys and rebuilds the particle networks, realizing fast control of the ink flow behavior and printability. This high-operating-temperature DIW method is fast (maximum speed ≈3100 mm min^-1 ) and extends the DIW scale range of soft silicone. The extruded filaments have small diameters (50 ± 5 µm), and allow for large spans (≈13-fold filament diameter) and high aspect ratios (≈1), setting a new benchmark in the DIW of soft silicone. Printed silicone structures exhibit excellent performance as flexible sensors, superhydrophobic surfaces, and shape-memory bionic devices, illustrating the potential of the new 3D printing strategy.

Programmable Multistimuli-Responsive and Multimodal Polymer Actuator Based on a Designed Energy Transduction Network

A polymer actuator typically responds to only one or two types of stimuli, where sensing and actuation are simultaneously exerted by the same responsive polymer. In cells, sensing and actuation are exerted separately by different biomolecules, which are integrated into nanoscale assemblies to construct the signaling network, making cells a multistimuli responsive and multimodal system. Inspired by the structure-function relationship of the signaling network in cells, we have developed a strategy to select and assemble proper functional polymers into assemblies, where sensing and actuation are exerted by different polymers, and the assemblies can present novel functions beyond that of each polymer component. Three polymers [polyaniline, PANi; poly(N-isopropylacrylamide), PNIPAm; and polydimethylsiloxane, PDMS] are integrated as nodes into a simple energy transduction network, which can be regulated by three molecular factors (pH, kosmotropic anions, and polyethylene glycol). PANi converts the light or electric stimulus into heat, which triggers the actuation of PNIPAm and PDMS. Relying on this energy transduction network, the polymer assembly can respond to six types of stimuli (light, electricity, temperature, water, ions, and organic solvents) and perform different actuation modes, serving as a powerful actuator. Programmable complex deformation upon multiple simultaneous or sequential stimuli has also been achieved by this actuator. An adaptive gripper to catch thin objects and a self-regulating switch to maintain environmental humidity illustrate the wide potential of this actuator for next-generation smart materials and soft robots.

Near-Infrared Light-Driven Shape-Programmable Hydrogel Actuators Loaded with Metal-Organic Frameworks

Shape-programmable hydrogel-based soft actuators that can adaptively respond to external stimuli are of paramount significance for the development of bioinspired aquatic smart soft robots. Herein, we report the design and synthesis of near-infrared (NIR) light-driven hydrogel actuators through in situ photopolymerization of poly(N-isopropylacrylamide) (PNIPAM) hydrogels loaded with metal-organic frameworks (MOFs) onto the surface of the poly(dimethylsiloxane) (PDMS) thin film. The MOFs can not only function as an excellent photothermal nanotransducer but also accelerate the adsorption/desorption of water due to their porous nanostructure, which speeds up the response rate of the actuators. Shape-programmable hydrogel actuators are fabricated by tailoring the patterning of PDMS thin film, and thus different shape-morphing modes such as directional bending and chiral twisting are observed under the NIR light irradiations. As the proof-of-concept demonstrations, an artificial hand, biomimetic mimosa, and flower are conceptualized with light-driven MOF-containing hydrogel actuators. Interestingly, we are able to achieve an octopus-inspired light-driven soft swimmer upon cyclic NIR illumination due to the fast photoresponsiveness of as-prepared hydrogel actuators. This work can offer insights for fabricating programmable and reconfigurable smart aquatic soft actuators, thus shining a light into their potential applications in emerging fields including soft robots, biomedical devices, and beyond.

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.

Processing of Self-Healing Polymers for Soft Robotics

Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various formative and additive manufacturing methods have been exploited to shape self-healing polymers into complex structures. Additionally, several novel manufacturing techniques, noted as (re)assembly binding techniques that are specific to self-healing polymers, have been created. Herein, the wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly. Based on defined requirements for soft robots, these techniques are critically compared and validated. A strong focus is drawn to the reversible covalent and (physico)chemical cross-links present in the self-healing polymers that do not only endow healability to the resulting soft robotic components, but are also beneficial in many manufacturing techniques. They solve current obstacles in soft robots, including the formation of robust multi-material parts, recyclability, and stress relaxation. This review bridges two promising research fields, and guides the reader toward selecting a suitable processing method based on a self-healing polymer and the intended soft robotics application.

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.

Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application

To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application.

Bio-inspired strategies for next-generation perovskite solar mobile power sources

Smart electronic devices are becoming ubiquitous due to many appealing attributes including portability, long operational time, rechargeability and compatibility with the user-desired form factor. Integration of mobile power sources (MPS) based on photovoltaic technologies with smart electronics will continue to drive improved sustainability and independence. With high efficiency, low cost, flexibility and lightweight features, halide perovskite photovoltaics have become promising candidates for MPS. Realization of these photovoltaic MPS (PV-MPS) with unconventionally extraordinary attributes requires new 'out-of-box' designs. Natural materials have provided promising designing solutions to engineer properties under a broad range of boundary conditions, ranging from molecules, proteins, cells, tissues, apparatus to systems in animals, plants, and humans optimized through billions of years of evolution. Applying bio-inspired strategies in PV-MPS could be biomolecular modification on crystallization at the atomic/meso-scale, bio-structural duplication at the device/system level and bio-mimicking at the functional level to render efficient charge delivery, energy transport/utilization, as well as stronger resistance against environmental stimuli (e.g., self-healing and self-cleaning). In this review, we discuss the bio-inspired/-mimetic structures, experimental models, and working principles, with the goal of revealing physics and bio-microstructures relevant for PV-MPS. Here the emphasis is on identifying the strategies and material designs towards improvement of the performance of emerging halide perovskite PVs and strategizing their bridge to future MPS.

Printing Multi-Material Organic Haptic Actuators

Haptic actuators generate touch sensations and provide realism and depth in human-machine interactions. A new generation of soft haptic interfaces is desired to produce the distributed signals over large areas that are required to mimic natural touch interactions. One promising approach is to combine the advantages of organic actuator materials and additive printing technologies. This powerful combination can lead to devices that are ergonomic, readily customizable, and economical for researchers to explore potential benefits and create new haptic applications. Here, an overview of emerging organic actuator materials and digital printing technologies for fabricating haptic actuators is provided. In particular, the focus is on the challenges and potential solutions associated with integration of multi-material actuators, with an eye toward improving the fidelity and robustness of the printing process. Then the progress in achieving compact, lightweight haptic actuators by using an open-source extrusion printer to integrate different polymers and composites in freeform designs is reported. Two haptic interfaces-a tactile surface and a kinesthetic glove-are demonstrated to show that printing with organic materials is a versatile approach for rapid prototyping of various types of haptic devices.

A short critique on biomining technology for critical materials

Being around for several decades, there is a vast amount of academic research on biomining, and yet it contributes less to the mining industry compared to other conventional technologies. This critique briefly comments on the current status of biomining research, enumerates a number of primary challenges, and elaborates on some kinetically-oriented strategies and bottom-up policies to sustain biomining with focus on critical material extraction and rare earth elements (REEs). Finally, we present some edge cutting developments which may promote new potentials in biomining.

Shape-adaptable biodevices for wearable and implantable applications

Emerging wearable and implantable biodevices have been significantly revolutionizing the diagnosis and treatment of disease. However, the geometrical mismatch between tissues and biodevices remains a great challenge for achieving optimal performances and functionalities for biodevices. Shape-adaptable biodevices enabling active compliance with human body tissues offer promising opportunities for addressing the challenge through programming their geometries on demand. This article reviews the design principles and control strategies for shape-adaptable biodevices with programmable shapes and actively compliant capabilities, which have offered innovative diagnostic/therapeutic tools and facilitated a variety of wearable and implantable applications. The state-of-the-art progress in applications of shape-adaptable biodevices in the fields of smart textiles, wound care, healthcare monitoring, drug and cell delivery, tissue repair and regeneration, nerve stimulation and recording, and biopsy and surgery, is highlighted. Despite the remarkable advances already made, shape-adaptable biodevices still confront many challenges on the road toward the clinic, such as enhanced intelligence for actively sensing and operating in response to physiological environments. Next-generation paradigms will shed light on future directions for extending the breadth and performance of shape-adaptable biodevices for wearable and implantable applications.

Network topology and stability of homologous multiblock copolymer physical gels

The mechanical properties of physical gels generated by selectively swelling a homologous series of linear multiblock copolymers are investigated by quasistatic uniaxial tensile tests. We use the slip-tube network model to extract the contributions arising from network crosslinks and chain entanglements. The composition dependence of these contributions is established and considered in terms of simulations that identify the probabilities associated with chain conformations. Dynamic rheology provides additional insight into the characteristics and thermal stability of the molecular networks.

Two-Way and Multiple-Way Shape Memory Polymers for Soft Robotics: An Overview

Shape memory polymers (SMPs) are smart materials capable of changing their shapes in a predefined manner under a proper applied stimulus and have gained considerable interest in several application fields. Particularly, two-way and multiple-way SMPs offer unique opportunities to realize untethered soft robots with programmable morphology and/or properties, repeatable actuation, and advanced multi-functionalities. This review presents the recent progress of soft robots based on two-way and multiple-way thermo-responsive SMPs. All the building blocks important for the design of such robots, i.e., the base materials, manufacturing processes, working mechanisms, and modeling and simulation tools, are covered. Moreover, examples of real-world applications of soft robots and related actuators, challenges, and future directions are discussed.

Epoxy vitrimers incorporating physical crosslinks produced by self-association of alkyl chains

Vitrimers synthesized from epoxy-carboxylic acid-alkylamine (Cn) formulations exhibit tunable mechanical properties and stress relaxation without using external catalysts.

Rapid preparation of highly transparent piezoresistive balls for optoelectronic devices

Highly transparent piezoresistive balls are rapidly prepared for optoelectronic devices by photopolymerization of polymerizable deep eutectic solvents.

4D Printing of a Liquid Crystal Elastomer with a Controllable Orientation Gradient

Liquid crystal elastomers (LCEs), a class of soft materials capable of a large and reversible change in the shape under the trigger of external stimuli, can be fabricated into diverse architectures with complicated deformation modes through four-dimensional (4D) printing. However, the printable LCE ink is only in the form of monomeric precursors and the deformation mode is limited to contraction/extension deformation. Herein, we report a novel approach to break through these limitations. We achieved 4D printing of a single-component liquid crystal polymer ink in its isotropy state through direct ink writing (DIW) technology. The drawing force imposed by the movement of nozzle in the extruded printing process was able to align the mesogen units along the specific printing path. An orientation gradient perpendicular to the printing direction was obtained due to the existence of a temperature gradient between the two sides of printed samples and could be further fixed by post-photo-cross-linking treatment through the dimerizable groups in the LCE, realizing a new actuation mode in the field of extrusion-based printing of LCE actuators. The printed film was able to change reversibly from a strip to a tightly hollow cylinder and could reversibly lift up an object with roughly 600 times its own weight. The orientation gradient can be patterned through liquid-assistant printing or programmed structure design to integrate both bending and contraction actuation modes on the same printed sample, leading to complex deformation and two-dimensional (2D) planar porous structure to three-dimensional (3D) porous cylinder transition. This study opens up a new prospect to directly print a wide variety of LCE actuators with versatile actuation modes.