Self-folding devices and materials for biomedical applications

Roll-to-roll fabrication of three-dimensional self-folding microstructures

Self-folding technology offers a promising alternative to conventional microfabrication techniques. It utilizes controlled and imbalanced stresses to transform specific patterns of flat materials into pre-determined three-dimensional (3D) structures for diverse applications. However, current production methods of self-folding structures are mostly limited to lab-scale production. In this study, a novel roll-to-roll (R2R) production setup is developed to address the limited scalability of self-folding technology. The R2R setup continuously stretches and bonds a pre-cured PDMS (polydimethylsiloxane) film to another PDMS film attached to a stiff PET (polyethylene terephthalate) carrier layer. This creates a bilayer PDMS film with imbalanced stress, causing it to self-fold into pre-determined 3D shapes upon patterning and releasing from the PET carrier layer. The R2R setup achieves a production rate of 96 cm2 min-1, significantly surpassing our previous method based on spin-coating and baking. This demonstrates the potential of R2R technology for industrial-scale production of self-folding microstructures.

Advances in Conductive Biomaterials for Cardiac Tissue Engineering: Design, Fabrication, and Functional Integration

Heart failure functions as one of the leading global causes of death because it falls under the cardiovascular disease categories. Cardiac tissue engineering advances by developing new tissues to rebuild heart functions in individuals with damaged heart structures as it gives medical treatment possibilities to patients reaching their final stage. Most of the heart tissue consists of cardiomyocytes which make up between 80 to 90 percent of the total organ space. The cardiomyocytes retain their specialized cell structure which includes elongation, but they align to produce contractions as they span into length. After myocardial infarction, doctors need elastic soft platforms to heal the heart tissue because they mimic its natural attributes. Special consideration must be paid to the material selection for appropriate mechanical properties, given that different substances have separate qualities. Stem cell survival becomes higher, and cell differentiation develops more efficiently when a proper scaffold design is implemented, thus enabling tissue repair. Conductive biomaterials demonstrate the best candidate status for cardiac tissue engineering due to their ability to both convey electrical signals and boost biological actions as well as promote cellular communication. Scientists conduct life science research on stem cells because the cells present unique characteristics. Biomaterials with conductive properties within cardiac tissue engineering help the body recover heart tissue while improving the functionality of damaged structures in the myocardium. This article analyzes various conductive biomaterials used in biomedical practices for cardiac tissue healing applications.

Graphene Origami Amplifies Mechanical Properties of Polyethylene Nanocomposites

Graphene and its derivatives have been widely used as reinforcing nanofillers for high-performance polymer nanocomposites. The effectiveness of the reinforcement largely depends on the properties of the nanofiller-matrix interface, which can be represented by the interfacial shear strength (IFSS). This work systematically investigates IFSS enhancements for polyethylene (PE) nanocomposites reinforced by graphene origami (GOri) through molecular dynamics pull-out simulations. When two-dimensional (2D) graphene is transformed into a three-dimensional (3D) origami structure, the resultant GOri/PE nanocomposite exhibits a higher IFSS due to the larger surface roughness of GOri and the associated higher van der Waals interaction strength between the filler and the matrix. Moreover, the incorporation of GOri into the PE matrix leads to more flexible and auxetic nanocomposites due to the unusual properties of GOri. The unique combination of high IFSS, high flexibility, and intrinsic auxeticity makes GOri/PE nanocomposites an ideal candidate for many practical applications, such as impact protection, flexible electronics, and soft robotics.

One-pot microfluidic fabrication of micro ceramic particles

In the quest for miniaturization across technical disciplines, microscale ceramic blocks emerge as pivotal components, with performance critically dependent on precise scales and intricate shapes. Sharp-edged ceramic microparticles, applied from micromachining to microelectronics, require innovative fabrication techniques for high-throughput production while maintaining structural complexity and mechanical integrity. This study introduces a "one-pot microfluidic fabrication" system incorporating two device fabrication strategies, "groove & tongue" and sliding assembling, achieving an unprecedented array of microparticles with diverse, complex shapes and refined precision, outperforming traditional methods in production rate and quality. Optimally designed sintering profiles based on derivative thermogravimetry enhance microparticles' shape retention and structural strength. Compression and scratch tests validate the superiority of microparticles, suggesting their practicability for diverse applications, such as precise micromachining, sophisticated microrobotics and delicate microsurgical tools. This advancement marks a shift in microscale manufacturing, offering a scalable solution to meet the demanding specifications of miniaturized technology components.

Microinstrumentation for Brain Organoids

Brain organoids are three-dimensional aggregates of self-organized differentiated stem cells that mimic the structure and function of human brain regions. Organoids bridge the gaps between conventional drug screening models such as planar mammalian cell culture, animal studies, and clinical trials. They can revolutionize the fields of developmental biology, neuroscience, toxicology, and computer engineering. Conventional microinstrumentation for conventional cellular engineering, such as planar microfluidic chips; microelectrode arrays (MEAs); and optical, magnetic, and acoustic techniques, has limitations when applied to three-dimensional (3D) organoids, primarily due to their limits with inherently two-dimensional geometry and interfacing. Hence, there is an urgent need to develop new instrumentation compatible with live cell culture techniques and with scalable 3D formats relevant to organoids. This review discusses conventional planar approaches and emerging 3D microinstrumentation necessary for advanced organoid-machine interfaces. Specifically, this article surveys recently developed microinstrumentation, including 3D printed and curved microfluidics, 3D and fast-scan optical techniques, buckling and self-folding MEAs, 3D interfaces for electrochemical measurements, and 3D spatially controllable magnetic and acoustic technologies relevant to two-way information transfer with brain organoids. This article highlights key challenges that must be addressed for robust organoid culture and reliable 3D spatiotemporal information transfer.

Bio-Inspired Dynamically Morphing Microelectronics toward High-Density Energy Applications and Intelligent Biomedical Implants

Choreographing the adaptive shapes of patterned surfaces to exhibit designable mechanical interactions with their environment remains an intricate challenge. Here, a novel category of strain-engineered dynamic-shape materials, empowering diverse multi-dimensional shape modulations that are combined to form fine-grained adaptive microarchitectures is introduced. Using micro-origami tessellation technology, heterogeneous materials are provided with strategic creases featuring stimuli-responsive micro-hinges that morph precisely upon chemical and electrical cues. Freestanding multifaceted foldable packages, auxetic mesosurfaces, and morphable cages are three of the forms demonstrated herein of these complex 4-dimensional (4D) metamaterials. These systems are integrated in dual proof-of-concept bioelectronic demonstrations: a soft foldable supercapacitor enhancing its power density (≈108 mW cm-2), and a bio-adaptive device with a dynamic shape that may enable novel smart-implant technologies. This work demonstrates that intelligent material systems are now ready to support ultra-flexible 4D microelectronics, which can impart autonomy to devices culminating in the tangible realization of microelectronic morphogenesis.

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.

A Design Method for Rectangular Waveguide-Typed Microwave Devices Based on a Novel Origami Process

A novel design method based on a novel origami process that can create a solid structure swiftly and at a low cost is presented for rectangular waveguide-type microwave devices in this paper. A planar structure was fabricated by the lamination and laser cutting of polystyrene membranes and aluminum foils and was converted into a solid structure via origami in accordance with the selective absorption of infrared light. A rectangular waveguide, a rectangular waveguide-type coupler, and a power divider based on an origami structure with a multi-layer structure and a single-layer structure were fabricated and tested, demonstrating easy assembly and good microwave performance. The measured results of the rectangular waveguide indicated that the insertion loss was superior to -0.9 dB. Meanwhile, the results of the coupler showed that the coupling degree increased from -12.8 dB to -8.9 dB in the range of 11.0 GHz to 12.0 GHz. Correspondingly, the prepared power divider demonstrated that the return loss dwindled from -8.9 dB to -11.3 dB and that the insertion loss of one output port was approximate to that of the remaining one, varying between -3.5 dB and -5.2 dB in the range of 10.5 GHz to 11.5 GHz-verifying the effectiveness of the origami-based design method.

Microelectronic Morphogenesis: Smart Materials with Electronics Assembling into Artificial Organisms

Microelectronic morphogenesis is the creation and maintenance of complex functional structures by microelectronic information within shape-changing materials. Only recently has in-built information technology begun to be used to reshape materials and their functions in three dimensions to form smart microdevices and microrobots. Electronic information that controls morphology is inheritable like its biological counterpart, genetic information, and is set to open new vistas of technology leading to artificial organisms when coupled with modular design and self-assembly that can make reversible microscopic electrical connections. Three core capabilities of cells in organisms, self-maintenance (homeostatic metabolism utilizing free energy), self-containment (distinguishing self from nonself), and self-reproduction (cell division with inherited properties), once well out of reach for technology, are now within the grasp of information-directed materials. Construction-aware electronics can be used to proof-read and initiate game-changing error correction in microelectronic self-assembly. Furthermore, noncontact communication and electronically supported learning enable one to implement guided self-assembly and enhance functionality. Here, the fundamental breakthroughs that have opened the pathway to this prospective path are reviewed, the extent and way in which the core properties of life can be addressed are analyzed, and the potential and indeed necessity of such technology for sustainable high technology in society is discussed.

Engineering confined fluids to autonomously assemble hierarchical 3D structures

The inherent coupling of chemical and mechanical behavior in fluid-filled microchambers enables the fluid to autonomously perform work, which in turn can direct the self-organization of objects immersed in the solution. Using theory and simulations, we show that the combination of diffusioosmotic and buoyancy mechanisms produce independently controlled, respective fluid flows: one generated by confining surfaces and the other in the bulk of the solution. With both flows present, the fluid can autonomously join 2D, disconnected pieces to a chemically active, "sticky" base and then fold the resulting layer into regular 3D shapes (e.g. pyramids, tetrahedrons, and cubes). Here, the fluid itself performs the work of construction and thus, this process does not require extensive external machinery. If several sticky bases are localized on the bottom surface, the process can be parallelized, with the fluid simultaneously forming multiple structures of the same or different geometries. Hence, this approach can facilitate the relatively low-cost, mass production of 3D micron to millimeter-sized structures. Formed in an aqueous solution, the assembled structures could be compatible with biological environments, and thus, potentially useful in medical and biochemical applications.

Untethered shape-changing devices in the gastrointestinal tract

INTRODUCTION

Advances in microfabrication, automation, and computer engineering seek to revolutionize small-scale devices and machines. Emerging trends in medicine point to smart devices that emulate the motility, biosensing abilities, and intelligence of cells and pathogens that inhabit the human body. Two important characteristics of smart medical devices are the capability to be deployed in small conduits, which necessitates being untethered, and the capacity to perform mechanized functions, which requires autonomous shape-changing.

AREAS COVERED

We motivate the need for untethered shape-changing devices in the gastrointestinal tract for drug delivery, diagnosis, and targeted treatment. We survey existing structures and devices designed and utilized across length scales from the macro to the sub-millimeter. These devices range from triggerable pre-stressed thin film microgrippers and spring-loaded devices to shape-memory and differentially swelling structures.

EXPERT OPINION

Recent studies demonstrate that when fully enabled, tether-free and shape-changing devices, especially at sub-mm scales, could significantly advance the diagnosis and treatment of GI diseases ranging from cancer and inflammatory bowel disease (IBD) to irritable bowel syndrome (IBS) by improving treatment efficacy, reducing costs, and increasing medication compliance. We discuss the challenges and possibilities associated with ensuring safe, reliable, and autonomous operation of these smart devices.

Effect of variations in manufacturing and material properties on the self-folding behaviors of hydrogel and elastomer bilayer structures

The stimuli-responsive self-folding structure is ubiquitous in nature, for instance, the mimosa folds its leaves in response to external touch or heat, and the Venus flytrap snaps shut to trap the insect inside. Thus, modeling self-folding structures has been of great interest to predict the final configuration and understand the folding mechanism. Here, we apply a simple yet effective method to predict the folding angle of the temperature-responsive nanocomposite hydrogel/elastomer bilayer structure manufactured by 3D printing, which facilitates the study of the effect of the inevitable variations in manufacturing and material properties on folding angles by comparing the simulation results with the experimentally measured folding angles. The defining feature of our method is to use thermal expansion to model the temperature-responsive nanocomposite hydrogel rather than the nonlinear field theory of diffusion model that was previously applied. The resulted difference between the simulation and experimentally measured folding angle (i.e., error) is around 5%. We anticipate that our method could provide insight into the design, control, and prediction of 3D printing of stimuli-responsive shape morphing (i.e., 4D printing) that have potential applications in soft actuators, robots, and biomedical devices.

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.

Advances in Biodegradable Soft Robots

Biodegradable soft robots have been proposed for a variety of intelligent applications in soft robotics, flexible electronics, and bionics. Biodegradability offers an extraordinary functional advantage to soft robots for operations accompanying smart shape transformation in response to external stimuli such as heat, pH, and light. This review primarily surveyed the current advanced scientific and engineering strategies for integrating biodegradable materials within stimuli-responsive soft robots. It also focused on the fabrication methodologies of multiscale biodegradable soft robots, and highlighted the role of biodegradable soft robots in enhancing the multifunctional properties of drug delivery capsules, biopsy tools, smart actuators, and sensors. Lastly, the current challenges and perspectives on the future development of intelligent soft robots for operation in real environments were discussed.

4D Multiscale Origami Soft Robots: A Review

Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.

Transparent and self-healing elastomers for reconfigurable 3D materials

Transparent soft materials have been widely used in applications ranging from packaging to flexible displays, wearable devices, and optical lenses. Nevertheless, soft materials are susceptible to mechanical damages, leading to functional failure and premature disposal. Herein, we introduce a transparent self-healing elastomer that is able to repair the polymer network via exchange reactions of dynamic disulfide bonds. Due to its self-healing ability, the mechanical properties of the elastomer can be recovered, as well as its transparency after multiple cycles of abrasion and healing. The self-healing polymer is fabricated into three-dimensional (3D) structures by folding or modular origami assembly of planar self-healing polymer sheets. The 3D polymer objects are employed as storage containers of solid and liquid substances, reactors for photopolymerization, and cuvettes for optical measurements (exhibiting superior properties to those of commercial cuvettes). These dynamic polymers show outstanding mechanical, optical, and recycling properties that could potentially be further adapted in adaptive smart packaging, reconfigurable materials, optical devices, and recycling of elastomers. This article is protected by copyright. All rights reserved.

Metallic Mimosa pudica: A 3D biomimetic buckling structure made of metallic glasses

Metallic Mimosa pudica, a three-dimensional (3D) biomimetic structure made of metallic glass, is formed via laser patterning: Blooming, closing, and reversing of the metallic M. pudica can be controlled by an applied magnetic field or by manual reshaping. An array of laser-crystallized lines is written in a metallic glass ribbon. Changes in density and/or elastic modulus due to laser patterning result in an appropriate size mismatch between the shrunken crystalline regions and the glassy matrix. The residual stress and elastic distortion energy make the composite material to buckle within the elastic limit and to obey the minimum elastic energy criterion. This work not only provides a programming route for constructing buckling structures of metallic glasses but also provides clues for the study of materials with automatic functions desired in robotics, electronic devices, and, especially, medical devices in the field of medicine, such as vessel scaffolds and vascular filters, which require contactless expansion and contraction functions.

Conformational Transition-Driven Self-Folding Hydrogel Based on Silk Fibroin and Gelatin for Tissue Engineering Applications

Self-folding is a rapidly evolving method for converting flat objects into three-dimensional structures. However, because there are few materials with suitable properties, application of self-folding in tissue engineering has been hindered greatly. Herein, a novel self-folding hydrogel using a conformational transition mechanism was developed by employing a photocrosslinkable silk fibroin and gelatin. It was hypothesized that differences in the amount of β-sheet formation between the upper and lower layers would supply additional folding stress and drive the self-folding behaviour of a bilayer patch, which could improve the mechanical properties and long-term stability of the self-folded structure. In this study, the impact of various proportions of β-sheets in composite hydrogels on their swelling, mechanics, and internal microstructures were investigated. Subsequently, the folding process parameters were optimized, and diffusion through the folded tubular structure was studied with a perfusion test. Finally, it was proven that the self-folding hydrogel system is cytocompatible and can be utilized to build a 3D coculture system of "endothelial cells-smooth muscle cells". These findings suggest that the self-folding hydrogel could be a promising candidate for applications in blood vessel tissue engineering and regenerative medicine. This article is protected by copyright. All rights reserved.

Formation of rolls from liquid crystal elastomer bistrips

Formation of desired three-dimensional (3D) shapes from flat thin sheets with programmed non-uniform deformation profiles is an effective strategy to create functional 3D structures. Liquid crystal elastomers (LCEs) are of particular use in programmable shape morphing due to their ability to undergo large, reversible, and anisotropic deformation in response to a stimulus. Here we consider a rectangular monodomain LCE thin sheet divided into one high- and one low-temperature strip, which we dub a 'bistrip'. Upon activation, a discontinuously patterned, anisotropic in-plane stretch profile is generated, and induces buckling of the bistrip into a rolled shape with a transitional bottle neck. Based on the non-Euclidean plate theory, we derive an analytical model to quantitatively capture the formation of the rolled shapes from a flat bistrip with finite thickness by minimizing the total elastic energy involving both stretching and bending energies. Using this analytical model, we identify the critical thickness at which the transition from the unbuckled to buckled configuration occurs. We further study the influence of the anisotropy of the stretch profile on the rolled shapes by first converting prescribed metric tensors with different anisotropy to a unified metric tensor embedded in a bistrip of modified geometry, and then investigating the effect of each parameter in this unified metric tensor on the rolled shapes. Our analysis sheds light on designing shape morphing of LCE thin sheets, and provides quantitative predictions on the 3D shapes that programmed LCE sheets can form upon activation for various applications.

Evolution of the Hybrid Aerial Underwater Robotic System (HAUCS) for Aquaculture: Sensor Payload and Extension Development

While robotics have been widely used in many agricultural practices such as harvesting, seeding, cattle monitoring, etc., aquaculture farming is an important, fast-growing sector of agriculture that has not seen significant adoption of advanced technologies such as robotics and the Internet of Things (IoT). In particular, dissolved oxygen (DO) monitoring, a practice in pond aquaculture essential to the health of the fish crops, remains labor-intensive and time-consuming. The Hybrid Aerial Underwater robotiCs System (HAUCS) is an IoT framework that aims to bring transformative changes to pond aquaculture. This paper focuses on the latest development in the HAUCS mobile sensing platform and field deployment. To address some shortcomings with the current implementation, the development of a novel rigid Kirigami-based robotic extension subsystem that can expand the functionality of the HAUCS platform is also being discussed.

Boundary curvature guided programmable shape-morphing kirigami sheets

Kirigami, a traditional paper cutting art, offers a promising strategy for 2D-to-3D shape morphing through cut-guided deformation. Existing kirigami designs for target 3D curved shapes rely on intricate cut patterns in thin sheets, making the inverse design challenging. Motivated by the Gauss-Bonnet theorem that correlates the geodesic curvature along the boundary with the Gaussian curvature, here, we exploit programming the curvature of cut boundaries rather than the complex cut patterns in kirigami sheets for target 3D curved morphologies through both forward and inverse designs. The strategy largely simplifies the inverse design. Leveraging this strategy, we demonstrate its potential applications as a universal and nondestructive gripper for delicate objects, including live fish, raw egg yolk, and a human hair, as well as dynamically conformable heaters for human knees. This study opens a new avenue to encode boundary curvatures for shape-programing materials with potential applications in soft robotics and wearable devices.

3D-to-3D Microscale Shape-Morphing from Configurable Helices with Controlled Chirality

Tunable and reconfigurable materials with autonomic shape transformation in response to the environment have emerged as one of the most promising approaches for a variety of biomedical applications, such as tissue engineering, biosensing, and in vivo biomedical devices. Currently, it is still quite challenging to fabricate soft, microscaled 3D shape-reconfigurable structures due to either complicated microfabrication or limited microscale photopolymerization-based printing approaches to enable adaptive shape transformation. Here, a one-step photo-cross-linking approach has been demonstrated to obtain a 3D-to-3D morphological transformable microhelix from a self-rolled hydrogel microsheet, resulting in chirality conversion. It was enabled by a custom-designed "hard" stripe/"soft" groove topography on the microsheets for introducing, which introduced both in-planar and out-of-planar anisotropies. Both experiment and simulation confirmed that a stripe/groove geometry can effectively control the 3D transformation by activating in-planar or/and out-of-planar mismatch stress within the microsheets, resulting in switching of the rolling direction between perpendicular/parallel to the length of the stripe. Furthermore, versatile 3D microconstructs with the ability to transform between two distinct 3D configurations have been achieved based on controlled rolling of microhelices, demonstrated as "windmill"-to-"T-cross" and "cylinder"-to-"scroll" transformations and dynamic blossoming of biomimetic orchids. In contrast to conventional 2D-to-3D micro-origami, we have successfully demonstrated an approach for fabricating microscale, all-soft-material-based constructs with autonomic 3D-to-3D structural transformation, which presents an opportunity for designing more complex hydrogel-based microrobotics.

Adhesion directed capillary origami

Capillary origami takes advantage of the surface forces of a liquid drop to assemble thin film structures. After a structure is assembled, the drop then evaporates away. The transient nature of the liquid drop means that the creation of dry and stable structures is impossible. Work presented in this paper shows that adhesion is, in fact, a key tool that enables the creation of stable, complex, capillary assembled origami structures, rather than a problem to be avoided. Here, polydimethylsiloxane thin films were used in several simple experiments designed to identify the balance between substrate-film adhesion and film-film adhesion in the context of capillary assembly. We then demonstrate how directional adhesion can be used to direct film peeling in order to create non-trivial patterned folds after a fluid drop is deposited. A minimal complex structure, a "double-fold" was created to demonstrate how adhesion uniquely facilitates multiple-step capillary assembly. Finally, a familiar "origami airplane" was created with these methods, demonstrating that adhesion aided capillary origami can be used to assemble complex, functional structures.

Engineering polymer film porosity for solvent triggered actuation

We report a novel approach for the fabrication of porous polymer films and their self-folding behavior in response to water. In this approach, the poly(vinyl alcohol) (PVA) films of tunable porosity are prepared by direct casting of aqueous PVA solution into a nonsolvent, isopropyl alcohol (IPA). The method developed is simple, efficient and low-cost. The results presented provide a modular route to tune the distribution of pores across the film thickness by varying the volume of nonsolvent and the polymer solution. We show that asymmetric porous polymer films (which consist of pores across a certain thickness of the film in the plane perpendicular to its surface) as well as symmetric porous polymer films (which have pores across the entire film) can be fabricated by this versatile method. The percentage of pores in the polymer film calculated as , where tp is the thickness of the film across which the pores exist and ttotal is the total thickness of the film, can be tuned over a wide range. The emanated porous PVA films are found to show self-folding behaviour in response to water. Our results indicate that the pore architecture in the films significantly enhances the actuation speed. The self-folding originating due to the diffusion of water molecules across the film is observed to occur in a controlled and predictable manner for the films with 60% pores and above. A detailed study of the folding characteristics and actuation speed in relation to folding time is substantiated.

Editing the Shape Morphing of Monocomponent Natural Polysaccharide Hydrogel Films

Shape-morphing hydrogels can be widely used to develop artificial muscles, reconfigurable biodevices, and soft robotics. However, conventional approaches for developing shape-morphing hydrogels highly rely on composite materials or complex manufacturing techniques, which limit their practical applications. Herein, we develop an unprecedented strategy to edit the shape morphing of monocomponent natural polysaccharide hydrogel films via integrating gradient cross-linking density and geometry effect. Owing to the synergistic effect, the shape morphing of chitosan (CS) hydrogel films with gradient cross-linking density can be facilely edited by changing their geometries (length-to-width ratios or thicknesses). Therefore, helix, short-side rolling, and long-side rolling can be easily customized. Furthermore, various complex artificial 3D deformations such as artificial claw, horn, and flower can also be obtained by combining various flat CS hydrogel films with different geometries into one system, which can further demonstrate various shape transformations as triggered by pH. This work offers a simple strategy to construct a monocomponent hydrogel with geometry-directing programmable deformations, which provides universal insights into the design of shape-morphing polymers and will promote their applications in biodevices and soft robotics.

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.

3D and 4D Printing of Multistable Structures

Three-dimensional (3D) printing is a new paradigm in customized manufacturing and allows the fabrication of complex structures that are difficult to realize with other conventional methods. Four-dimensional (4D) printing adds active, responsive functions to 3D-printed components, which can respond to various environmental stimuli. This review introduces recent ideas in 3D and 4D printing of mechanical multistable structures. Three-dimensional printing of multistable structures can enable highly reconfigurable components, which can bring many new breakthroughs to 3D printing. By adopting smart materials in multistable structures, more advanced functionalities and enhanced controllability can also be obtained in 4D printing. This could be useful for various smart and programmable actuators. In this review, we first introduce three representative approaches for 3D printing of multistable structures: strained layers, compliant mechanisms, and mechanical metamaterials. Then, we discuss 4D printing of multistable structures that can help overcome the limitation of conventional 4D printing research. Lastly, we conclude with future prospects.

New Morphogenetic Strategy Inspired by the Viscoelasticity of Polymers

A new morphogenetic strategy was developed to realize continuously modulated and reprogrammable three-dimensional shape transitions by fully exploring the potential of macromolecular conformational modulations. Geometric information was defined in the planar shape memory polymeric sheets through the application of spatially differentiated thermo-temporal conditions in the shape memory creation stage. Due to the viscoelasticity of polymers, nonuniform inner stress distribution was encoded in spite of the homogeneous composition, which was released under the activation of uniform heating. Compared to the traditional shape-programming strategies, the present research offered the opportunity to generate physical patterns by modulating the thermal histories of polymers. It brought the advantages of a continuously regulated degree of discrepancy between different regions, which enabled fine-tuning of the targeted three-dimensional (3D) shape. In addition, suitable annealing treatment could lead to the elimination of thermal history. That is, the geometric information could be erased and re-encoded, making unlimited diverse 3D structures from the same piece of polymer a reality.

Graphene Origami with Highly Tunable Coefficient of Thermal Expansion

The coefficient of thermal expansion, which measures the change in length, area, or volume of a material upon heating, is a fundamental parameter with great relevance for many applications. Although there are various routes to design materials with targeted coefficient of thermal expansion at the macroscale, no approaches exist to achieve a wide range of values in graphene-based structures. Here, we use molecular dynamics simulations to show that graphene origami structures obtained through pattern-based surface functionalization provide tunable coefficients of thermal expansion from large negative to large positive. We show that the mechanisms giving rise to this property are exclusive to graphene origami structures, emerging from a combination of surface functionalization, large out-of-plane thermal fluctuations, and the three-dimensional geometry of origami structures.

Assembly of Foldable 3D Microstructures Using Graphene Hinges

Origami/kirigami-inspired 3D assembly approaches have recently attracted attention for a variety of applications, such as advanced optoelectronic devices and biomedical sensors. The results reported here describe an approach to construct classes of multiple foldable 3D microstructures that involve deformations that typical conductive materials, such as conventional metal films, cannot tolerate. Atomically thin graphene sheets serve as folding hinges during a process of 2D to 3D conversion via a deterministic buckling process. The exceptional mechanical properties of graphene enable the controlled, geometric transformation of a 2D precursor bonded at selective sites on a prestretched elastomer into folded 3D microstructures, in a reversible manner without adverse effects on the electrical properties. Experimental and computational investigations of the folding mechanisms for such types of 3D objects reveal the underlying physics and the dependence of the process on the thickness of the graphene/supporting films that define the hinges.

Annealing Supramolecular Gels by a Reaction Relay

Supramolecular gels have potential in many areas. In many cases, a major drawback is that the gels are formed at a high rate. As a result, nonoptimal, kinetically trapped self-assembled structures are often formed, leading to gels that can be hard to reproduce and control. One method to get around kinetic trapping is annealing. Thermal annealing is one possibility, but it is not always desirable to heat the gels. Here, we describe a method to anneal pH-triggered gels after they are formed. We employ a reaction relay in a peptide-based hydrogel system to anneal the structures by a controlled and uniform pH change. Our method allows us to prepare gels with more controlled properties. We show that this can be used to enable homogeneous "molding and casting" of the hydrogels. This method of annealing is more effective in improving gel robustness than a conventional heat-cool cycle.

Complex three-dimensional graphene structures driven by surface functionalization

The origami technique can provide inspiration for fabrication of novel three-dimensional (3D) structures with unique material properties from two-dimensional sheets. In particular, transformation of graphene sheets into complex 3D graphene structures is promising for functional nano-devices. However, practical realization of such structures is a great challenge. Here, we introduce a self-folding approach inspired by the origami technique to form complex 3D structures from graphene sheets using surface functionalization. A broad set of examples (Miura-ori, water-bomb, helix, flapping bird, dachshund dog, and saddle structure) is achieved via molecular dynamics simulations and density functional theory calculations. To illustrate the potential of the origami approach, we show that the graphene Miura-ori structure combines super-compliance, super-flexibility (both in tension and compression), and negative Poisson's ratio behavior.

Near-Infrared Photodriven Self-Sustained Oscillation of Liquid-Crystalline Network Film with Predesignated Polydopamine Coating

Movement is one of the vital features of living systems, and remote control of bioinspired soft robotic systems in a precise, contactless and harmless way is extremely desirable but challenging. A near-infrared (NIR) photodriven polymeric oscillator is designed and fabricated by selectively coating a mussel-inspired polydopamine (PDA) polymer layer on the surface of splay-aligned liquid crystalline network (LCN) film. The oscillating motions of the LCN oscillators can be facilely manipulated by tuning light intensity and film thickness. More importantly, the programmability of the PDA coating enables the oscillating behaviors of LCN film to be predesignated and finely adjusted by coating the film with PDA locally and repeatedly. The self-oscillating movement mechanism can be attributed to the temperature oscillation at the PDA-coated LCN film since it is alternatively exposed and sheltered to the NIR-light irradiations. Owing to over 50% NIR irradiation in solar spectrum, PDA-coated film is found to oscillate upon exposure of focused sunlight, presenting great potential in fabrication of solar power generation devices. This provides a versatile strategy to fabricate NIR-light-actuated polymeric oscillators, providing inspirations in the development of biological soft robots and advanced biomimetic devices.

Design and Fabrication of a Kirigami-Inspired Electrothermal MEMS Scanner with Large Displacement

Large-displacement microelectromechanical system (MEMS) scanners are in high demand for a wide variety of optical applications. Kirigami, a traditional Japanese art of paper cutting and folding, is a promising engineering method for creating out-of-plane structures. This paper explores the feasibility and potential of a kirigami-inspired electrothermal MEMS scanner, which achieves large vertical displacement by out-of-plane film actuation. The proposed scanner is composed of film materials suitable for electrothermal self-reconfigurable folding and unfolding, and microscale film cuttings are strategically placed to generate large displacement. The freestanding electrothermal kirigami film with a 2 mm diameter and high fill factor is completely fabricated by careful stress control in the MEMS process. A 200 μm vertical displacement with 131 mW and a 20 Hz responsive frequency is experimentally demonstrated as a unique function of electrothermal kirigami film. The proposed design, fabrication process, and experimental test validate the proposed scanner’s feasibility and potential for large-displacement scanning with a high fill factor.

Biomimetic Nonuniform, Dual-Stimuli Self-Morphing Enabled by Gradient Four-Dimensional Printing

Programmable nonuniform deformation is of great significance for self-shape-morphing systems that are commonly seen in biological systems and also has practical applications in drug delivery, biomedical devices and robotics, etc. Here, we present a novel gradient four-dimensional (4D) printing method toward biomimetic nonuniform, dual-stimuli self-morphing. By modeling and printing graded active materials with water swelling properties, we can configure continuously smooth gradients of volume fraction of the active material in bilayer structures. The variation of swelling ratio mismatch between the two layers can be delicately regulated, which results in the programmable nonuniform shape transformation. The shape-shifting results can be predicted by the established mathematical model and computational simulations. Furthermore, we demonstrate dual-stimuli self-morphing structures by printing the graded water-responsive elastomer materials onto a heat-shrinkable shape memory polymer, which could produce different shape changes in response to humidity and different temperatures. This method pioneers a versatile approach to broaden the design space for 4D printing and will be compatible with a wide range of active materials meeting various requirements in diverse potential applications.

Encoding kirigami bi-materials to morph on target in response to temperature

Shape morphing in response to an environmental stimulus, such as temperature, light, and chemical cues, is currently pursued in synthetic analogs for manifold applications in engineering, architecture, and beyond. Existing strategies mostly resort to active, namely smart or field responsive, materials, which undergo a change of their physical properties when subjected to an external stimulus. Their ability for shape morphing is intrinsic to the atomic/molecular structure as well as the mechanochemical interactions of their constituents. Programming shape changes with active materials require manipulation of their composition through chemical synthesis. Here, we demonstrate that a pair of off-the-shelf passive solids, such as wood and silicone rubber, can be topologically arranged in a kirigami bi-material to shape-morph on target in response to a temperature stimulus. A coherent framework is introduced to enable the optimal orchestration of bi-material units that can engage temperature to collectively deploy into a geometrically rich set of periodic and aperiodic shapes that can shape-match a predefined target. The results highlight reversible morphing by mechanics and geometry, thus contributing to relax the dependence of current strategies on material chemistry and fabrication.

The MoSeS dynamic omnigami paradigm for smart shape and composition programmable 2D materials

The properties of 2D materials can be broadly tuned through alloying and phase and strain engineering. Shape programmable materials offer tremendous functionality, but sub-micron objects are typically unachievable with conventional thin films. Here we propose a new approach, combining phase/strain engineering with shape programming, to form 3D objects by patterned alloying of 2D transition metal dichalcogenide (TMD) monolayers. Conjugately, monolayers can be compositionally patterned using non-flat substrates. For concreteness, we focus on the TMD alloy MoSe[Formula: see text]S[Formula: see text]; i.e., MoSeS. These 2D materials down-scale shape/composition programming to nanoscale objects/patterns, provide control of both bending and stretching deformations, are reversibly actuatable with electric fields, and possess the extraordinary and diverse properties of TMDs. Utilizing a first principles-informed continuum model, we demonstrate how a variety of shapes/composition patterns can be programmed and reversibly modulated across length scales. The vast space of possible designs and scales enables novel material properties and thus new applications spanning flexible electronics/optics, catalysis, responsive coatings, and soft robotics.

Geometric and Kinematic Analyses and Novel Characteristics of Origami-Inspired Structures

In recent years, origami structures have been gradually applied in aerospace, flexible electronics, biomedicine, robotics, and other fields. Origami can be folded from two-dimensional configurations into certain three-dimensional structures without cutting and stretching. This study first introduces basic concepts and applications of origami, and outlines the common crease patterns, whereas the design of crease patterns is focused. Through kinematic analysis and verification on origami structures, origami can be adapted for practical engineering. The novel characteristics of origami structures promote the development of self-folding robots, biomedical devices, and energy absorption members. We briefly describe the development of origami kinematics and the applications of origami characteristics in various fields. Finally, based on the current research progress of crease pattern design, kinematic analysis, and origami characteristics, research directions of origami-inspired structures are discussed.

Organ-on-e-chip: Three-dimensional self-rolled biosensor array for electrical interrogations of human electrogenic spheroids

Cell-cell communication plays a pivotal role in coordination and function of biological systems. Three-dimensional (3D) spheroids provide venues to explore cellular communication for tissue development and drug discovery, as their 3D architecture mimics native in vivo microenvironments. Cellular electrophysiology is a prevalent signaling paradigm for studying electroactive cells. Currently, electrophysiological studies do not provide direct, multisite, simultaneous investigation of tissues in 3D. In this study, 3D self-rolled biosensor arrays (3D-SR-BAs) of either active field-effect transistors or passive microelectrodes were implemented to interface human cardiac spheroids in 3D. The arrays provided continuous and stable multiplexed recordings of field potentials with high sensitivity and spatiotemporal resolution, supported with simultaneous calcium imaging. Our approach enables electrophysiological investigation and monitoring of the complex signal transduction in 3D cellular assemblies toward an organ-on-an-electronic-chip (organ-on-e-chip) platform for tissue maturation investigations and development of drugs for disease treatment, such as arrhythmias.

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.

Coupling synthetic biology and programmable materials to construct complex tissue ecosystems

Synthetic biology combines engineering and biology to produce artificial systems with programmable features. Specifically, engineered microenvironments have advanced immensely over the past few decades, owing in part to the merging of materials with biological mimetic structures. In this review, we adapt a traditional definition of community ecology to describe "cellular ecology", or the study of the distribution of cell populations and interactions within their microenvironment. We discuss two exemplar hydrogel platforms: (1) self-assembling peptide (SAP) hydrogels and (2) Poly(ethylene) glycol (PEG) hydrogels and describe future opportunities for merging smart material design and synthetic biology within the scope of multicellular platforms.

Liquid Metal-Elastomer Soft Composites with Independently Controllable and Highly Tunable Droplet Size and Volume Loading

Soft composites are critical for soft and flexible materials in energy harvesting, actuators, and multifunctional devices. One emerging approach to create multifunctional composites is through the incorporation of liquid metal (LM) droplets such as eutectic gallium indium (EGaIn) in highly deformable elastomers. The microstructure of such systems is critical to their performance; however, current materials lack control of particle size at diverse volume loadings. Here, we present a fabrication approach to create liquid metal-elastomer composites with independently controllable and highly tunable droplet size (100 nm ≤ D ≤ 80 μm) and volume loading (0 ≤ ϕ ≤ 80%). This is achieved through a combination of shear mixing and sonication of concentrated LM/elastomer emulsions to control droplet size and subsequent dilution and homogenization to tune LM volume loading. These materials are characterized utilizing dielectric spectroscopy supported by analytical modeling, which shows a high relative permittivity of 60 (16× the unfilled elastomer) in a composite with ϕ = 80%, a low tan δ of 0.02, and a significant dependence on ϕ and minor dependence on droplet size. Temperature response and stability are determined using dielectric spectroscopy through temperature and frequency sweeps with DSC. These results demonstrate a wide temperature stability of the liquid metal phase (crystallizing at <-85 °C for D < 20 μm). Additionally, all composites are electrically insulating across wide frequency (0.1 Hz-10 MHz) and temperature (-70 to 100 °C) ranges even up to ϕ = 80%. We highlight the benefit of LM microstructure control by creating all-soft-matter stretchable capacitive sensors with tunable sensitivity. These sensors are further integrated into a wearable sensing glove where we identify different objects during grasping motions. This work enables programmable LM composites for soft robotics and stretchable electronics where flexibility and tunable functional response are critical.

Light-Induced Shape Morphing of Liquid Metal Nanodroplets Enabled by Polydopamine Coating

Shape morphing nanosystems have recently attracted much attention and a number of applications are developed, spanning from autonomous robotics to drug delivery. However, the fabrication of such nanosystems remains at an early stage owing to limited choices of strategies and materials. This work reports a facile method to fabricate liquid metal (LM) nanodroplets by sonication of bulk LM in an aqueous dopamine hydrochloride solution and their application in light-induced shape morphing at the nanoscale. In this method, dopamine acts as a surfactant, which stabilizes the LM nanodroplets dispersion during the sonication, and results in downsizing of the nanodroplets. Furthermore, by adding 2-amino-2-(hydroxymethyl)-1,3-propanediol to the suspension, self-polymerization of dopamine molecules occurs, resulting in the formation of polydopamine (PDA)-coated LM nanodroplets. Owing to the high photothermal conversion of the PDA, PDA-coated LM nanodroplets are transformed from spherical shapes to ellipsoids by NIR laser irradiation. This study paves a simple and reliable pathway for the preparation of functional LM nanodroplets and their application as shape-morphing nanosystems.

Recent Strategies in Extrusion-Based Three-Dimensional Cell Printing toward Organ Biofabrication

Reconstructing human organs is one of the ultimate goals of the medical industry. Organ printing utilizing three-dimensional cell printing technology to fabricate artificial living organ equivalents has shed light on the advancement of this field into a new era. Among three currently applied techniques (inkjet, laser-assisted, and extrusion-based), extrusion-based cell printing (ECP) has evoked the majority of interest due to its low cost, wide range of applicable materials, and ease of spatial and depositional controllability. Major challenges in organ reconstruction include difficulties in precisely fabricating complex structural features, creating perfusable and functional vasculatures, and mimicking biophysical and biochemical characteristics in the printed constructs. In this review, we describe the merits and limitations of ECP for organ fabrication and discuss its recent advances aimed at overcoming these challenges. In addition, we delineate the expected future techniques for printing live tissue or organ substitutes.

Architected Origami Materials: How Folding Creates Sophisticated Mechanical Properties

Origami, the ancient Japanese art of paper folding, is not only an inspiring technique to create sophisticated shapes, but also a surprisingly powerful method to induce nonlinear mechanical properties. Over the last decade, advances in crease design, mechanics modeling, and scalable fabrication have fostered the rapid emergence of architected origami materials. These materials typically consist of folded origami sheets or modules with intricate 3D geometries, and feature many unique and desirable material properties like auxetics, tunable nonlinear stiffness, multistability, and impact absorption. Rich designs in origami offer great freedom to design the performance of such origami materials, and folding offers a unique opportunity to efficiently fabricate these materials at vastly different sizes. Here, recent studies on the different aspects of origami materials-geometric design, mechanics analysis, achieved properties, and fabrication techniques-are highlighted and the challenges ahead discussed. The synergies between these different aspects will continue to mature and flourish this promising field.

A finite deformation theory of desolvation and swelling in partially photo-cross-linked polymer networks for 3D/4D printing applications

Photopolymerization is a process strongly dependent on the light field in the resin. This typically results in a non-uniformly crosslinked network where some parts of the network are fully cross-linked while other parts are partially crosslinked. The partially crosslinked part could exhibit a high volume expansion upon swelling and a high volume shrinkage upon desolvation. Through control over the light field in the photopolymer resin, this feature has been used to create solvent responsive shape changing structures as well as 3D/4D printed smart devices, showing promising application potential. In this paper, we develop a finite deformation theory to consider the nonuniform crosslink density of the network and the interaction between different species inside the network. The mechanical properties of the network are correlated with the reaction process and the existence of residual uncrosslinked monomers is included in the partially crosslinked network. The efficiency of the theory is proved by the finite element simulations of two special applications of the partially crosslinked network.

Trends in polymeric shape memory hydrogels and hydrogel actuators

Recently, “smart” hydrogels with either shape memory behavior or reversible actuation have received particular attention and have been further developed into sensors, actuators, or artificial muscles.

Crumpling of thin sheets as a basis for creating mechanical metamaterials

Crumpled thin sheets exhibit extraordinary characteristics such as a high strength combined with a low volume ratio. This review focuses on the physics of crumpled thin sheets, including the crumpling mechanics, crumpling methods, and the mechanical behavior of crumpled thin sheets. Most of the physical and mechanical properties of crumpled thin sheets change with the compaction ratio, which creates the opportunity to obtain the properties that are needed for a specific application simply by changing the compaction ratio. This also enables obtaining unusual combinations of material properties, which cannot be easily found in nature. Furthermore, crumpling starts from a flat surface, which could first be decorated with (nano-) patterns or functionalized through other surface treatment techniques, many of which are only applicable to flat surfaces. Ultimately, the crumpling of thin sheets could be used for creating disordered mechanical metamaterials, which are less sensitive to geometric imperfections compared to ordered designs of mechanical metamaterials that are based, for example, on origami or lattice structures.

Random formation of layers and ridges through the crumpling of a flat matter can form a robust mechanical metamaterial.

Folding 2D Structures into 3D Configurations at the Micro/Nanoscale: Principles, Techniques, and Applications

Compared to their 2D counterparts, 3D micro/nanostructures show larger degrees of freedom and richer functionalities; thus, they have attracted increasing attention in the past decades. Moreover, extensive applications of 3D micro/nanostructures are demonstrated in the fields of mechanics, biomedicine, optics, etc., with great advantages. However, the mainstream micro/nanofabrication technologies are planar ones; therefore, they cannot be used directly for the construction of 3D micro/nanostructures, making 3D fabrication at the micro/nanoscale a great challenge. A promising strategy to overcome this is to combine the state-of-the-art planar fabrication techniques with the folding method to produce 3D structures. In this strategy, 2D components can be easily produced by traditional planar techniques, and then, 3D structures are constructed by folding each 2D component to specific orientations. In this way, not only will the advantages of existing planar techniques, such as high precision, programmable patterning, and mass production, be preserved, but the fabrication capability will also be greatly expanded without complex and expensive equipment modification/development. The goal here is to highlight the recent progress of the folding method from the perspective of principles, techniques, and applications, as well as to discuss the existing challenges and future prospectives.