Universal Soft Robotic Microgripper

Magnetically Controllable Paper-Based Soft Robots for Colorimetric Detection of Heavy Metal Ions

Magnetically controllable soft robots are of great interest because they have unique properties compared with conventional rigid counterparts and can be used in diverse applications such as intelligent electronics, bionics, personalized medicine, and cargo grasping. However, the fabrication of such multifunctional soft robots has been challenging because of the integration of dissimilar materials into the robot body. Herein, we designed and fabricated a soft robotic multifunctional system using conventional papers and elastomeric polymers for the colorimetric detection of heavy metal ions (Hg2+ and Fe3+) in water samples. The magnetic actuation of the platforms was shown to correlate with the type of underlying paper and magnetic particle content in the mixtures. Moreover, it was observed that actuation can also be manipulated by controlling the magnetic field strength. A proof-of-concept robotic paper-based Hg2+, Zn2+, and Fe3+ ion detection was demonstrated by combining colorimetric paper sensors and magneto-papers. Our study highlights the significant potential of paper as a material for the fabrication of effective and multifunctional untethered soft robots.

Magnetic Soft Microrobot Design for Cell Grasping and Transportation

Manipulating cells at a small scale is widely acknowledged as a complex and challenging task, especially when it comes to cell grasping and transportation. Various precise methods have been developed to remotely control the movement of microrobots. However, the manipulation of micro-objects necessitates the use of end-effectors. This paper presents a study on the control of movement and grasping operations of a magnetic microrobot, utilizing only 3 pairs of electromagnetic coils. A specially designed microgripper is employed on the microrobot for efficient cell grasping and transportation. To ensure precise grasping, a bending deformation model of the microgripper is formulated and subsequently validated. To achieve precise and reliable transportation of cells to specific positions, an approach that combines an extended Kalman filter with a model predictive control method is adopted to accomplish the trajectory tracking task. Through experiments, we observe that by applying the proposed control strategy, the mean absolute error of path tracking is found to be less than 0.155 mm. Remarkably, this value accounts for only 1.55% of the microrobot's size, demonstrating the efficacy and accuracy of our control strategy. Furthermore, an experiment involving the grasping and transportation of a zebrafish embryonic cell (diameter: 800 μm) is successfully conducted. The results of this experiment not only validate the precision and effectiveness of the proposed microrobot and its associated models but also highlight its tremendous potential for cell manipulation in vitro and in vivo.

Untethered Microgrippers for Precision Medicine

Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and  controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery  are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.

Reconfiguration, Welding, Reprogramming, and Complex Shape Transformation of An Optical Shape Memory Polymer Network Enabled by Patterned Secondary Crosslinking

Stimuli-triggered generation of complicated 3D shapes from 2D strips or plates without using sophisticated molds is desirable and achieving such 2D-to-3D shape transformation in combination with shape reconfiguration, welding, and reprogramming on a single material is very challenging. Here, a convenient and facile strategy using the solution of a disulfide-containing diamine for patterned secondary crosslinking of an optical shape-memory polymer network is developed to integrate the above performances. The dangling thiolectones attached to the backbones react with the diamine in the solution-deposited region so that the secondary crosslinking may not only weld individual strips into assembled 3D shapes but also suppress the relaxation of the deformed polymer chains to different extents for shape reconfiguration or heating-induced complex 3D deformations. In addition, as the dynamic disulfide bonds can be thermally activated to erase the initial programming information and the excessive thiolectones are available for subsequent patterned crosslinking, the material also allows shape reprogramming. Combining welding with patterning treatment, it is further demonstrated that a gripper can be assembled and photothermally controlled to readily grasp an object.

Hot Brownian Motion of Thermoresponsive Microgels in Optical Tweezers Shows Discontinuous Volume Phase Transition and Bistability

Microgels are soft microparticles that often exhibit thermoresponsiveness and feature a transformation at a critical temperature, referred to as the volume phase transition temperature. Whether this transformation occurs as a smooth or as a discontinuous one is still a matter of debate. This question can be addressed by studying individual microgels trapped in optical tweezers. For this aim, composite particles are obtained by decorating  Poly-N-isopropylacrylamide (pNIPAM) microgels with iron oxide nanocubes. These composites become self-heating when illuminated by the infrared trapping laser, performing hot Brownian motion within the trap. Above a certain laser power, a single decorated microgel features a volume phase transition that is discontinuous, while the usual continuous sigmoidal-like dependence is recovered after averaging over different microgels. The collective sigmoidal behavior enables the application of a power-to-temperature calibration and provides the effective drag coefficient of the self-heating microgels, thus establishing these composite particles as potential micro-thermometers and micro-heaters. Moreover, the self-heating microgels also exhibit an unexpected and intriguing bistability behavior above the critical temperature, probably due to partial collapses of the microgel. These results set the stage for further studies and the development of applications based on the hot Brownian motion of soft particles.

Microfluidic Approaches for Microactuators: From Fabrication, Actuation, to Functionalization

Microactuators can autonomously convert external energy into specific mechanical motions. With the feature sizes varying from the micrometer to millimeter scale, microactuators offer many operation and control possibilities for miniaturized devices. In recent years, advanced microfluidic techniques have revolutionized the fabrication, actuation, and functionalization of microactuators. Microfluidics can not only facilitate fabrication with continuously changing materials but also deliver various signals to stimulate the microactuators as desired, and consequently improve microfluidic chips with multiple functions. Herein, this cross-field that systematically correlates microactuator properties and microfluidic functions is comprehensively reviewed. The fabrication strategies are classified into two types according to the flow state of the microfluids: stop-flow and continuous-flow prototyping. The working mechanism of microactuators in microfluidic chips is discussed in detail. Finally, the applications of microactuator-enriched functional chips, which include tunable imaging devices, micromanipulation tools, micromotors, and microsensors, are summarized. The existing challenges and future perspectives are also discussed. It is believed that with the rapid progress of this cutting-edge field, intelligent microsystems may realize high-throughput manipulation, characterization, and analysis of tiny objects and find broad applications in various fields, such as tissue engineering, micro/nanorobotics, and analytical devices.

Multimodal collective swimming of magnetically articulated modular nanocomposite robots

Magnetically responsive composites can impart maneuverability to miniaturized robots. However, collective actuation of these composite robots has rarely been achieved, although conducting cooperative tasks is a promising strategy for accomplishing difficult missions with a single robot. Here, we report multimodal collective swimming of ternary-nanocomposite-based magnetic robots capable of on-demand switching between rectilinear translational swimming and rotational swimming. The nanocomposite robots comprise a stiff yet lightweight carbon nanotube yarn (CNTY) framework surrounded by a magnetic polymer composite, which mimics the hierarchical architecture of musculoskeletal systems, yielding magnetically articulated multiple robots with an agile above-water swimmability (~180 body lengths per second) and modularity. The multiple robots with multimodal swimming facilitate the generation and regulation of vortices, enabling novel vortex-induced transportation of thousands of floating microparticles and heavy semi-submerged cargos. The controllable collective actuation of these biomimetic nanocomposite robots can lead to versatile robotic functions, including microplastic removal, microfluidic vortex control, and transportation of pharmaceuticals.

Acousto-Photolithography for Programmable Shape Deformation of Composite Hydrogel Sheets

Stimuli-responsive hydrogels with programmable shapes produced by defined patterns of particles are of great interest for the fabrication of small-scale soft actuators and robots. Patterning the particles in the hydrogels during fabrication generally requires external magnetic or electric fields, thus limiting the material choice for the particles. Acoustically driven particle manipulation, however, solely depends on the acoustic impedance difference between the particles and the surrounding fluid, making it a more versatile method to spatially control particles. Here, an approach is reported by combining direct acoustic force to align photothermal particles and photolithography to spatially immobilize these alignments within a temperature-responsive poly(N-isopropylacrylamide) hydrogel to trigger shape deformation under temperature change and light exposure. The spatial distribution of particles can be tuned by the power and frequency of the acoustic waves. Specifically, changing the spacing between the particle patterns and position alters the bending curvature and direction of this composite hydrogel sheet, respectively. Moreover, the orientation (i.e., relative angle) of the particle alignments with respect to the long axis of laser-cut hydrogel strips governs the bending behaviors and the subsequent shape deformation by external stimuli. This acousto-photolithography provides a means of spatiotemporal programming of the internal heterogeneity of composite polymeric systems.

Hydrogel-Based Stimuli-Responsive Micromotors for Biomedicine

The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy. By combining stimuli-sensitive hydrogel materials, micromotors are bestowed with new characteristics such as stimuli-responsive shape transformation/morphing, excellent biocompatibility and biodegradability, and drug loading ability. Actuated by chemical fuels or external fields (e.g., magnetic field, ultrasound, light, and electric field), hydrogel-based stimuli-responsive (HBSR) micromotors can be utilized to load therapeutic agents into the hydrogel networks or directly grip the target cargos (e.g., drug-loaded particles, cells, and thrombus), transport them to sites of interest (e.g., tumor area and diseased tissues), and unload the cargos or execute a specific task (e.g., cell capture, targeted sampling, and removal of blood clots) in response to a stimulus (e.g., change of temperature, pH, ion strength, and chemicals) in the physiological environment. The high flexibility, adaptive capacity, and shape morphing property enable the HBSR micromotors to complete specific medical tasks in complex physiological scenarios, especially in confined, hard-to-reach tissues, and vessels of the body. Herein, this review summarizes the current progress in hydrogel-based medical micromotors with stimuli responsiveness. The thermo-responsive, photothermal-responsive, magnetocaloric-responsive, pH-responsive, ionic-strength-responsive, and chemoresponsive micromotors are discussed in detail. Finally, current challenges and future perspectives for the development of HBSR micromotors in the biomedical field are discussed.

Thermomagnetic-Responsive Self-Folding Microgrippers for Improving Minimally Invasive Surgical Techniques and Biopsies

Traditional open surgery complications are typically due to trauma caused by accessing the procedural site rather than the procedure itself. Minimally invasive surgery allows for fewer complications as microdevices operate through small incisions or natural orifices. However, current minimally invasive tools typically have restricted maneuverability, accessibility, and positional control of microdevices. Thermomagnetic-responsive microgrippers are microscopic multi-fingered devices that respond to temperature changes due to the presence of thermal-responsive polymers. Polymeric devices, made of poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc) and polypropylene fumarate (PPF), self-fold due to swelling and contracting of the hydrogel layer. In comparison, soft metallic devices feature a pre-stressed metal bilayer and polymer hinges that soften with increased temperature. Both types of microdevices can self-actuate when exposed to the elevated temperature of a cancerous tumor region, allowing for direct targeting for biopsies. Microgrippers can also be doped to become magnetically responsive, allowing for direction without tethers and the retrieval of microdevices containing excised tissue. The smaller size of stimuli-responsive microgrippers allows for their movement through hard-to-reach areas within the body and the successful extraction of intact cells, RNA and DNA. This review discusses the mechanisms of thermal- and magnetic-responsive microdevices and recent advances in microgripper technology to improve minimally invasive surgical techniques.

Plasmonic nanomaterials with responsive polymer hydrogels for sensing and actuation

Plasmonic nanomaterials have become an integral part of numerous technologies, where they provide important functionalities spanning from extraction and harvesting of light in thin film optical devices to probing of molecular species and their interactions on biochip surfaces. More recently, we witness increasing research efforts devoted to a new class of plasmonic nanomaterials that allow for on-demand tuning of their properties by combining metallic nanostructures and responsive hydrogels. This review addresses this recently emerged vibrant field, which holds potential to expand the spectrum of possible applications and deliver functions that cannot be achieved by separate research in each of the respective fields. It aims at providing an overview of key principles, design rules, and current implementations of both responsive hydrogels and metallic nanostructures. We discuss important aspects that capitalize on the combination of responsive polymer networks with plasmonic nanostructures to perform rapid mechanical actuation and actively controlled nanoscale confinement of light associated with resonant amplification of its intensity. The latest advances towards the implementation of such responsive plasmonic nanomaterials are presented, particularly covering the field of plasmonic biosensing that utilizes refractometric measurements as well as plasmon-enhanced optical spectroscopy readout, optically driven miniature soft actuators, and light-fueled micromachines operating in an environment resembling biological systems.

Microgripper Using Soft Microactuators for Manipulation of Living Cells

We present a microgripper actuated by a soft microactuator for manipulating a single living cell. Soft actuators have attracted attention in recent years because their compliance which can adapt to soft targets. In this study, we propose a microgripper actuated by soft thermoresponsive hydrogels. The thermoresponsive gel swells in water when the temperature is low and shrinks when the temperature is high. Therefore, the microgripper can be driven by controlling the temperature of the thermoresponsive gel. The gels are actuated by irradiating with infrared (IR) laser to localize heating. The actuation characteristics of the gripper were theoretically analyzed and we designed a gripper that gripped a ≈10 µm size cell. Additionally, we succeeded in actuating the fabricated microgripper with laser irradiation and gripping a single living cell.

Small-scale soft grippers with environmentally responsive logic gates

Small-scale soft grippers are adaptive and deformable, and can be utilized for confined environments (e.g., the human body). Small-scale soft grippers require logic-based computation to achieve intelligent control and perform logical analysis of the surrounding information. However, it is a great challenge to integrate electronic chips and power supplies (i.e., batteries) on their small systems. Here, the approach provides a route to add computational capabilities via environmentally responsive logic gates in small-scale soft grippers, without electronics, external control, or tethering. Various origami-inspired grippers performing YES, NOT, XOR, AND, OR, NOR and NAND gates, respectively, were developed by stimuli-responsive hydrogels as building blocks. Although the hydrogels respond to different kinds of stimuli, their outputs are the same: a change in hydrogel size, leading to the bending of the arms of the grippers. Hence, the logic gates can be integrated easily within a gripper (e.g., connecting an AND gate to another AND gate). Moreover, the gripper fabricated by dual-responsive hydrogels can intelligently and autonomously switch from an AND gate to an OR gate upon varied environmental stimuli. In addition, a magnetic gripper with an AND gate was fabricated that can analyse different stimuli, and capture and release the targeted object via the environmentally responsive logic gates. This strategy provides a new route to incorporate on-board perception, control and computation via environmentally responsive logic gates in small-scale soft robots and machines.

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.

Micro and nanorobot-based drug delivery: an overview

Progress in the drug delivery system in the last few decades has led to many advancements for efficient drug delivery. Both micro and nanorobots, are regarded as superior drug delivery systems to deliver drugs efficiently by altering other forms of energy into propulsion and movements. Furthermore, it can be advantageous as it is directed to targeted sites beneath physiological environments and conditions. They have been validated to possess the capability to encapsulate, transport, and supply therapeutic contents directly to the disease sites, thus enhancing the therapeutic efficiency and decreasing systemic side effects of the toxic drugs. This review discusses about the microand nanorobots for the diagnostics and management of diseases, types of micro, and nanorobots, role of robots in drug delivery, and its biomedical applications.

Recent progress of biomimetic motions-from microscopic micro/nanomotors to macroscopic actuators and soft robotics

Motion is a basic behavioral attribute of organisms, and it is a behavioral response of organisms to the external environment and internal state changes. Materials with switchable mechanical properties are widespread in living organisms and play crucial roles in the motion of organisms. Therefore, significant efforts have been made toward mimicking such architectures and motion behaviors by making full use of the properties of stimulus-responsive materials to design smart materials/machines with specific functions. In recent years, the biomimetic motions based on micro/nanomotors, actuators and soft robots constructed from smart response materials have been developed gradually. However, a comprehensive discussion on various categories of biomimetic motions in this field is still missing. This review aims to provide such a panoramic overview. From nano-to macroscales, we summarize various biomimetic motions based on micro/nanomotors, actuators and soft robotics. For each biomimetic motion, we discuss the driving modes and the key functions. The challenges and opportunities of biomimetic motions are also discussed. With rapidly increasing innovation, advanced, intelligent and multifunctional biomimetic motions based on micro/nanomotors, actuators and soft robotics will certainly bring profound impacts and changes for human life in the near future.

Smart Actuators Based on External Stimulus Response

Smart actuators refer to integrated devices that are composed of smart and artificial materials, and can provide actuation and dampening capabilities in response to single/multi external stimuli (such as light, heat, magnetism, electricity, humidity, and chemical reactions). Due to their capability of dynamically sensing and interaction with complex surroundings, smart actuators have attracted increasing attention in different application fields, such as artificial muscles, smart textiles, smart sensors, and soft robots. Among these intelligent material, functional hydrogels with fiber structure are of great value in the manufacture of smart actuators. In this review, we summarized the recent advances in stimuli-responsive actuators based on functional materials. We emphasized the important role of functional nano-material-based additives in the preparation of the stimulus response materials, then analyzed the driving response medium, the preparation method, and the performance of different stimuli responses in detail. In addition, some challenges and future prospects of smart actuators are reported.

Intelligent Shape-Morphing Micromachines

Intelligent machines are capable of switching shape configurations to adapt to changes in dynamic environments and thus have offered the potentials in many applications such as precision medicine, lab on a chip, and bioengineering. Even though the developments of smart materials and advanced micro/nanomanufacturing are flouring, how to achieve intelligent shape-morphing machines at micro/nanoscales is still significantly challenging due to the lack of design methods and strategies especially for small-scale shape transformations. This review is aimed at summarizing the principles and methods for the construction of intelligent shape-morphing micromachines by introducing the dimensions, modes, realization methods, and applications of shape-morphing micromachines. Meanwhile, this review highlights the advantages and challenges in shape transformations by comparing micromachines with the macroscale counterparts and presents the future outlines for the next generation of intelligent shape-morphing micromachines.

Continuous microfluidic fabrication of anisotropic microparticles for enhanced wastewater purification

Anisotropic microparticles containing functional nanomaterials have attracted growing interest due to their enhanced performance in diverse applications ranging from catalysts to environmental remediation. However, the preparation of anisotropic microparticles with highly controlled morphologies and dimensions usually suffers from a limited material choice. Here, we develop a facile strategy to continuously prepare anisotropic microparticles with their shapes changing from spherical to pear-like, maraca-like and rod-like for enhanced water decontamination. Anisotropic microparticles are produced by deforming oil-droplet templates within microfibers and then locking their shapes via thermo/photo-polymerization. The sizes and geometries of the oil-droplet templates are precisely controlled by varying the fluid flow conditions. In addition, porous spherical and rod-like microparticles are functionalized for photocatalytic degradation of organic contaminants by incorporating functional TiO2 and Fe3O4 nanoparticles. Compared to spherical microparticles with equal volume, functionalized rod-like microparticles exhibit better performance in removal of contaminants due to their larger specific surface area, which facilitates the contact between the loaded catalysts and organic pollutants. Moreover, the magnetic rod-like microparticles can be easily recovered and reused without deterioration of catalytic performance. The proposed strategy in this study is useful for producing anisotropic microparticles with well-tailored shapes via different polymerization methods and extending their potential applications.

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.

Magnetically Driven Micro and Nanorobots

Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Many researchers have selected magnetic fields as the active external actuation source based on the advantageous features of this actuation strategy such as remote and spatiotemporal control, fuel-free, high degree of reconfigurability, programmability, recyclability, and versatility. This review introduces fundamental concepts and advantages of magnetic micro/nanorobots (termed here as “MagRobots”) as well as basic knowledge of magnetic fields and magnetic materials, setups for magnetic manipulation, magnetic field configurations, and symmetry-breaking strategies for effective movement. These concepts are discussed to describe the interactions between micro/nanorobots and magnetic fields. Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion approaches, and magnetic stimulation of micro/nanorobots beyond motion are provided followed by fabrication techniques for (quasi-)spherical, helical, flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots in targeted drug/gene delivery, cell manipulation, minimally invasive surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery, pollution removal for environmental remediation, and (bio)sensing are also reviewed. Finally, current challenges and future perspectives for the development of magnetically powered miniaturized motors are discussed.

An Untethered Soft Robot Based on Liquid Crystal Elastomers

An untethered, soft robot using liquid crystal elastomer (LCE) actuators, onboard power, and wireless Bluetooth control was developed. LCE actuators were thermally triggered using Joule heating and demonstrated an ∼5 N force pull capacity per LCE. A >20% repeatable strain was demonstrated over >100 cycles with minimal loss of strain at high cycle numbers. The LCE actuators were horizontally oriented to maximize conversion of LCE contraction to overall robot movement. A battery and control board were integrated into the body of the robot, which allowed for Bluetooth control of the LCE on/off cycle. System level programming and design were implemented to offset the slow recovery associated with LCE actuators. The multiple LCE actuator legs were programmed to allow individual control of on/off cycles for each leg. LCE leg actuation was alternated between inner and outer legs to provide horizontal movement with minimized loss of motion during the LCE recovery cycle by actuating one set of legs during the recovery cycle of the other set for a maximum movement speed of 1.27 cm/min. Path control was also demonstrated by turning the robot by actuating two LCE legs on one side of the robot. The robot was able to pull up to 1400 g in ideal frictional conditions, allowing the possibility of payload transport, additional battery storage, or onboard sensors. Additional design considerations are discussed to further improve overall robot speed in the future by combining system and material level design considerations.

Magnetic microgels and nanogels: Physical mechanisms and biomedical applications

Soft micro- and nanostructures have been extensively developed for biomedical applications. The main focus has been on multifunctional composite materials that combine the advantages of hydrogels and colloidal particles. Magnetic microgels and nanogels can be realized by hybridizing stimuli-sensitive gels and magnetic nanoparticles. They are of particular interest since they can be controlled in a wide range of biological environments by using magnetic fields. In this review, we elucidate physical principles underlying the design of magnetic microgels and nanogels for biomedical applications. Particularly, this article provides a comprehensive and conceptual overview on the correlative structural design and physical functionality of the magnetic gel systems under the concept of colloidal biodevices. To this end, we begin with an overview of physicochemical mechanisms related to stimuli-responsive hydrogels and transport phenomena and summarize the magnetic properties of inorganic nanoparticles. On the basis of the engineering principles, we categorize and summarize recent advances in magnetic hybrid microgels and nanogels, with emphasis on the biomedical applications of these materials. Potential applications of these hybrid microgels and nanogels in anticancer treatment, protein therapeutics, gene therapy, bioseparation, biocatalysis, and regenerative medicine are highlighted. Finally, current challenges and future opportunities in the design of smart colloidal biodevices are discussed.

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing and the multiple degrees of freedom actuation scheme does not require incorporation of any specific material such as air bubbles. These features pave the way for the development of active scaffolds and soft robotic microsystems from biomaterials with tailored performance and functionality. Finite element analysis and computational fluid dynamics are used to quantitatively predict the performance of acoustically powered hydrogels immersed in fluid and guide the design process. The outcome is the remotely controlled operation of a repertoire of untethered biomanipulation tools including monolithic compound micromachinery with multiple pumps connected to various functional devices. The potential of the presented technology for minimally invasive diagnosis and targeted therapy is demonstrated by a soft microrobot that can on-demand collect, encapsulate, and process microscopic samples.

Smart Bilayer Polyacrylamide/DNA Hybrid Hydrogel Film Actuators Exhibiting Programmable Responsive and Reversible Macroscopic Shape Deformations

As a crucial instinct for the survival of organisms, adaptive smart deformation has been well shown via profusely astounding examples within biological morphogenesis in nature, which inspired the construction of biomimetic shape-morphing materials with controlled actuating behaviors. Herein, the construction of nature-inspired bilayer hydrogel film actuators, composed of a polyacrylamide hydrogel passive layer and a polyacrylamide-DNA hybrid hydrogel active layer, which exhibited programmable stimuli-responsive and reversible macroscopic shape deformations directed by the sequence of DNA crosslinking units in the active layer, is reported. As a proof-of-concept, the introduction of DNA i-motif based crosslinking structures into the active layer, which can undergo pH-stimulated formation and dissociation of crosslinking between polymers and therefore change the crosslinking density of the active layer, lead to the redistribution of the internal stresses within the bilayer structure, and result in the pH-stimulated shape deformations. By programming the sequence of DNA units in the active layer, a Ag⁺ /Cysteamine-stimulated bilayer DNA hybrid hydrogel film actuator is further constructed and exhibits excellent actuation behaviors. Thanks to the micrometer-scale thickness of the films, these actuators exhibit a high degree of macroscopic and reversible shape deformations at high speed, which may find use in future smart biosensing and biomedical applications.

Formulation of Sugar/Hydrogel Inks for Rapid Thermal Response 4D Architectures with Sugar-derived Macropores

Programmed, reshaping hydrogel architectures were fabricated from sugar/hydrogel inks via a three-dimensional printing method involving a stimuli-responsive polymer. We developed a new hydrogel ink composed of monomers (acrylamide [AAm]) and N-isopropylacrylamide [NIPAAm]), and sugar (mixture of glucose and sucrose) as a pore-generator, enabling to improve printability by increasing the ink's viscoelastic properties and induce the formation of macropores in the hydrogel architectures. This study demonstrated that creating macropores in such architectures enables rapid responses to stimuli that can facilitate four-dimensional printing. We printed bilayer structures from monomer inks to which we had added sugar, and we exposed them to processes that cross-linked the monomers and leached out the sugar to create macropores. In comparison with a conventional poly(N-isopropylacrylamide) hydrogel, the macroporous hydrogels prepared using polymerization in the presence of a high concentration of sugar showed higher swelling ratios and exhibited much faster response rates to temperature changes. We used rheometry and scanning electron microscopy to characterize the properties of these inks and hydrogels. The results suggest that this method may provide a readily available route to the rapid design and fabrication of shape-morphing hydrogel architectures with potential application in soft robotics, hydrogel actuators, and tissue engineering.

Universal SMP gripper with massive and selective capabilities for multiscaled, arbitrarily shaped objects

Grippers are widely used for the gripping, manipulation, and assembly of objects with a wide range of scales, shapes, and quantities in research, industry, and our daily lives. A simple yet universal solution is very challenging. Here, we manage to address this challenge utilizing a simple shape memory polymer (SMP) block. The embedding of objects into the SMP enables the gripping while the shape recovery upon stimulation facilitates the releasing. Systematic studies show that friction, suction, and interlocking effects dominate the grip force individually or collectively. This universal SMP gripper design provides a versatile solution to grip and manipulate multiscaled (from centimeter scale down to 10-μm scale) 3D objects with arbitrary shapes, in individual, deterministic, or massive, selective ways. These extraordinary capabilities are demonstrated by the gripping and manipulation of macroscaled objects, mesoscaled steel sphere arrays and microparticles, and the selective and patterned transfer printing of micro light-emitting diodes.

Pick up and release of micro-objects: a motion-free method to change the conformity of a capillary contact

We propose a new 3D-printed capillary gripper equipped with a textured surface for motion-free release. The gripper classically picks up micro-objects thanks to the capillary forces induced by a liquid bridge. Micro-objects are released by decreasing the volume of this bridge through evaporation. The latter can be either natural or speeded up by a heating source (an IR laser or the Joule effect). The volume reduction changes the conformity of the contact between the gripper and the object. We analyze the gripper performance and the capillary force generated, and then we rationalize the release mechanism by defining the concept of contact conformity in the context of capillary forces.

Bioperspectives for Shape-Memory Polymers as Shape Programmable, Active Materials

Within the natural world, organisms use information stored in their material structure to generate a physical response to a wide variety of environmental changes. The ability to program synthetic materials to intrinsically respond to environmental changes in a similar manner has the potential to revolutionize material science. By designing polymeric devices capable of responsively changing shape or behavior based on information encoded into their structure, we can create functional physical behavior, including a shape-memory and an actuation capability. Here we highlight the stimuli-responsiveness and shape-changing ability of biological materials and biopolymer-based materials, plus their potential biomedical application, providing a bioperspective on shape-memory materials. We address strategies to incorporate a shape-memory (actuation) function in polymeric materials, conceptualized in terms of its relationship with inputs (environmental stimuli) and outputs (shape change). Challenges and opportunities associated with the integration of several functions in a single material body to achieve multifunctionality are discussed. Finally, we describe how elements that sense, convert, and transmit stimuli have been used to create multisensitive materials.

Advances in biomimetic stimuli responsive soft grippers

A variety of biomimetic stimuli-responsive soft grippers that can be utilized as intelligent actuators, sensors, or biomedical tools have been developed. This review covers stimuli-responsive materials, fabrication methods, and applications of soft grippers. This review specifically describes the current research progress in stimuli-responsive grippers composed of N-isopropylacrylamide hydrogel, thermal and light-responding liquid crystalline and/or pneumatic-driven shape-morphing elastomers. Furthermore, this article provides a brief overview of high-throughput assembly methods, such as photolithography and direct printing approaches, to create stimuli-responsive soft grippers. This review primarily focuses on stimuli-responsive soft gripping robots that can be utilized as tethered/untethered multiscale smart soft actuators, manipulators, or biomedical devices.