Smart Actuators and Adhesives for Reconfigurable Matter

Biomolecular Actuators for Soft Robots

Biomolecules present promising stimuli-responsive mechanisms to revolutionize soft actuators. Proteins, peptides, and nucleic acids foster specific intermolecular interactions, and their boundless sequence design spaces encode precise actuation capabilities. Drawing inspiration from nature, biomolecular actuators harness existing stimuli-responsive properties to meet the needs of diverse applications. This review features biomolecular actuators that respond to a wide variety of stimuli to drive both user-directed and autonomous actuation. We discuss how advances in biomaterial fabrication accelerate prototyping of precise, custom actuators, and we identify biomolecules with untapped actuation potential. Finally, we highlight opportunities for multifunctional and reconfigurable biomolecules to improve the versatility and sustainability of next-generation soft actuators.

Oligoadenine Strand Functionalized Polyacrylamide Hydrogel Film Exhibiting pH-Triggered High-Degree Inverse Shape Deformations

Smart shape-memory DNA hydrogels, which can respond to various types of external stimuli and undergo macroscopic shape deformations, have shown great potential in various applications. By constructing free-standing films, the deformation and response properties of these hydrogels can be further enhanced, and visualized deformation can be achieved. However, DNA hydrogels that can exhibit rapid and high-degree shape deformations, such as the inverse shape deformations, are still lacking. Herein, free-standing oligoadenine strand-functionalized polyacrylamide hydrogel films were developed that can exhibit reversible and high degree of inverse shape deformation upon cyclic pH changes. The oligoadenine strands exhibit a pH-stimulated reversible conformational transition between a flexible single-stranded state and parallel duplex A-motif structures, resulting in their role change in the film from negatively charged side chains to "head-to-head" crosslinking structures, driving a high degree of inverse shape deformation with a relative bending angle change of 223.7 % of the film, which is more than 5 times that of a film driven by pH-responsive i-motif structures, facilitating the development of bilayer hydrogel film actuators with potential in flexible sensors and robots.

Colorimetric IPN hydrogels embedded with colloidal photonic crystals: A novel approach for the detection of ethanol and Ba2+ ions in water

A critical bottleneck in sensor technology is the rapid and precise detection of specific analytes in complex matrices, hindering advancements in environmental monitoring, healthcare, and industrial process control. This study addresses this challenge by introducing a novel composite hydrogel sensor designed for rapid and selective detection of ethanol and barium ions (Ba2+) in aqueous environments. The sensor integrates interpenetrating network (IPN) hydrogels with embedded colloidal photonic crystals (CPCs), synthesized via a solution-based polymerization approach. This innovative configuration allows CPCs to dynamically adjust their photonic bandgap in response to environmental changes, manifesting as a visible, colorimetric shift. This response stems from the synergy between the mechanical properties of the IPN hydrogel and the optical sensitivity of CPCs. Upon exposure to analytes such as ethanol and Ba2+, the sensor exhibits a rapid and reversible color transition that is directly proportional to their concentration. Notably, ethanol (0 vol%-80 vol%) and Ba2+ (5-17.5 mM) induce a distinct blueshift in the photonic bandgap and trigger a color change from red-orange to green due to the alteration in the swelling behavior of the IPN hydrogel, affecting its lattice constant. The IPN hydrogel-CPC composite demonstrates exceptional operational stability and facilitates rapid detection, making it ideal for on-site applications without the need for complex equipment. These characteristics make the composite hydrogel sensor a promising candidate for environmental monitoring, industrial process control, and public health diagnostics, paving the way for the development of next-generation responsive sensor materials.

Multiresponsive Ionogel with Switchable Adhesion Triggered by Phase Separation

The rapid development of wearable devices and soft robotics has an urgent demand for polymer conductors with a switchable adhesion property. Herein, we report a supramolecular ionogel (SIG) that can reversibly switch between adhesion and debonding to various substrates. The on/off switchable adhesion of SIG is attributed to phase separation induced by the aggregation of polymer chains and the formation of a lubricating layer, which impairs the contact between polymer chains and substrates, thus weakening interfacial interaction. The phase separation ionogel (PSIG) is highly sensitive to humidity, leading to the debonded PSIG instantly transforming into the adhesion-hydrated ionogel (HIG) owing to the disruption of phase structure. Based on the switchable adhesion property, this multiresponsive ionogel shows potential applications as a fire alarm and intelligent conductive tape. This work provides a simple method for developing a switchable adhesion ionic polymer conductor and broadens the application of the ionogel in flexible devices.

Polyelectrolyte-Mediated Modulation of Spatial Internal Stresses of Hydrogels for Complex 3D Actuators

Hydrogel actuators with complex 3D initial shapes show numerous important applications, but it remains challenging to fabricate such actuators. This article describes a polyelectrolyte-based strategy for modulating small-scale internal stresses within hydrogels to construct complex actuators with tailored 3D initial shapes. Introducing polyelectrolytes into precursor solutions significantly enhances the volume shrinkage of hydrogel networks during polymerization, allowing us to modulate internal stresses. Photopolymerization of these polyelectrolyte-containing solutions through a mask produces mechanically strong hydrogel sheets with large patterned internal stresses. Consequently, these hydrogel sheets attain complex 3D initial shapes at equilibrium, in contrast to the planar initial configuration of 2D actuators. We demonstrate that these 3D actuators can reversibly transform into other 3D shapes (i.e., 3D-to-3D shape transformations) in response to external stimuli. Additionally, we develop a predictive model based on the Flory-Rehner theory to analyze the polyelectrolyte-mediated shrinking behaviors of hydrogel networks during polymerization, allowing precise modulation of shrinkage and internal stress. This polyelectrolyte-boosted shrinking mechanism paves a route to the fabrication of high-performance 3D hydrogel actuators.

Highly Stretchable, Transparent, Self-Healing Ion-Conducting Elastomers for Long-Term Reliable Human Motion Detection

The flexible electronic sensor is a critical component of wearable devices, generally requiring high stretchability, excellent transmittance, conductivity, self-healing capability, and strong adhesion. However, designing ion-conducting elastomers meeting all these requirements simultaneously remains a challenge. In this study, a novel approach is presented to fabricate highly stretchable, transparent, and self-healing ion-conducting elastomers, which are synthesized via photo-polymerization of two polymerizable deep eutectic solvents (PDESs) monomers, i.e., methacrylic acid (MAA)/choline chloride (ChCl) and itaconic acid (IA)/ChCl. The as-prepared ion-conducting elastomers possess outstanding properties, including high transparency, conductivity, and the capability to adhere to various substrates. The elastomers also demonstrate ultra-stretchability (up to 3900%) owing to a combination of covalent cross-linking and noncovalent cross-linking. In addition, the elastomers can recover up to 3250% strain and over 94.5% of their original conductivity after self-healing at room temperature for 5 min, indicating remarkable mechanical and conductive self-healing abilities. When utilized as strain sensors to monitor real-time motion of human fingers, wrist, elbow, and knee joints, the elastomers exhibit stable and strong repetitive electrical signals, demonstrating excellent sensing performance for large-scale movements of the human body. It is anticipated that these ion-conducting elastomers will find promising applications in flexible and wearable electronics.

Bio-Inspired Double-Layered Hydrogel Robot with Fast Response via Thermo-Responsive Effect

Bio-inspired hydrogel robots have become promising due to their advantage of the interaction safety and comfort between robots and humans, while current hydrogel robots mainly focus on underwater movement due to the hydration-dehydration process of thermo-responsive hydrogels, which greatly limits their practical applications. To expand the motion of the thermo-responsive hydrogel robot to the ground, we constructed a hydrogel robot inspired by a caterpillar, which has an anisotropic double-layered structure by the interfacial diffusion polymerization method. Adding PVA and SA to PNIPAm will cause different conformation transitions. Therefore, sticking the two layers of hydrogel together will form a double-layer anisotropic structure. The ultra-high hydrophilicity of PVA and SA significantly reduces the contact angle of the hydrogel from 53.1° to about 10° and reduces its hydration time. The responsive time for bending 30° of the hydrogel robot has been greatly reduced from 1 h to half an hour through the enhancement of photo-thermal conversion and thermal conductivity via the addition of Fe3O4 nanoparticles. As a result, the fabricated hydrogel robot can achieve a high moving speed of 54.5 mm·h-1 on the ground. Additionally, the fabricated hydrogel has excellent mechanical strength and can endure significant flexibility tests. This work may pave the road for the development of soft robots and expand their applications in industry.

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

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

Quantitative, high-sensitivity measurement of liquid analytes using a smartphone compass

Smartphone ubiquity has led to rapid developments in portable diagnostics. While successful, such platforms are predominantly optics-based, using the smartphone camera as the sensing interface. By contrast, magnetics-based modalities exploiting the smartphone compass (magnetometer) remain unexplored, despite inherent advantages in optically opaque, scattering or auto-fluorescing samples. Here we report smartphone analyte sensing utilizing the built-in magnetometer for signal transduction via analyte-responsive magnetic-hydrogel composites. As these hydrogels dilate in response to targeted stimuli, they displace attached magnetic material relative to the phone's magnetometer. Using a bilayer hydrogel geometry to amplify this motion allows for sensitive, optics-free, quantitative liquid-based analyte measurements that require neither any electronics nor power beyond that contained within the smartphone itself. We demonstrate this concept with glucose-specific and pH-responsive hydrogels, including glucose detection down to single-digit micromolar concentrations with potential for extension to nanomolar sensitivities. The platform is adaptable to numerous measurands, opening a path towards portable, inexpensive sensing of multiple analytes or biomarkers of interest.

[2 + 2] cycloaddition and its photomechanical effects on 1D coordination polymers with reversible amide bonds and coordination site regulation

Photo-responsive materials can convert light energy into mechanical energy, with great application potential in biomedicine, flexible electronic devices, and bionic systems. We combined reversible amide bonds, coordination site regulation, and coordination polymer (CP) self-assembly to synthesize two 1D photo-responsive CPs. Obvious photomechanical behavior was observed under UV irradiation. By combining the CPs with PVA, the mechanical stresses were amplified and macroscopic driving behavior was realized. In addition, two cyclobutane amide derivatives and a pair of cyclobutane carboxyl isomers were isolated through coordination bond destruction and amide bond hydrolysis. Therefore, photo-actuators and supramolecular synthesis in smart materials may serve as important clues.

Preload-Induced Switchable Adhesion

Animals with robust attachment abilities commonly exhibit stable attachment and convenient detachment. However, achieving an efficient attachment-detachment function in bioinspired adhesives is challenging owing to the complexity and delay of actuators. In this study, a class of multilayer adhesives (MAs) comprising backing, middle, and bottom layers is proposed to realize rapid switching by only adjusting the preload. At low preload, the MAs maintain intimate contact with the substrate. By contrast, a sufficiently large preload results in significant deformation of the middle layer, causing underside buckling and reducing adhesion. By optimizing the structural parameters of the MAs, a high switching ratio (up to 136×) can be achieved under different preloads. Furthermore, the design of the MAs incorporates a film-terminated structure, which prevents the embedding of dirt particles, simplifies cleaning, and maintains the separation and uprightness of the microstructures. Consequently, the MAs demonstrate practical potential for simple and efficient transportation applications, as they achieve switchable adhesion through their structure, exhibiting a high switching ratio and fast switching.

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.

Advances in photothermal regulation strategies: from efficient solar heating to daytime passive cooling

Photothermal regulation concerning solar harvesting and repelling has recently attracted significant interest due to the fast-growing research focus in the areas of solar heating for evaporation, photocatalysis, motion, and electricity generation, as well as passive cooling for cooling textiles and smart buildings. The parallel development of photothermal regulation strategies through both material and system designs has further improved the overall solar utilization efficiency for heating/cooling. In this review, we will review the latest progress in photothermal regulation, including solar heating and passive cooling, and their manipulating strategies. The underlying mechanisms and criteria of highly efficient photothermal regulation in terms of optical absorption/reflection, thermal conversion, transfer, and emission properties corresponding to the extensive catalog of nanostructured materials are discussed. The rational material and structural designs with spectral selectivity for improving the photothermal regulation performance are then highlighted. We finally present the recent significant developments of applications of photothermal regulation in clean energy and environmental areas and give a brief perspective on the current challenges and future development of controlled solar energy utilization.

Photothermal Nanomaterials: A Powerful Light-to-Heat Converter

All forms of energy follow the law of conservation of energy, by which they can be neither created nor destroyed. Light-to-heat conversion as a traditional yet constantly evolving means of converting light into thermal energy has been of enduring appeal to researchers and the public. With the continuous development of advanced nanotechnologies, a variety of photothermal nanomaterials have been endowed with excellent light harvesting and photothermal conversion capabilities for exploring fascinating and prospective applications. Herein we review the latest progresses on photothermal nanomaterials, with a focus on their underlying mechanisms as powerful light-to-heat converters. We present an extensive catalogue of nanostructured photothermal materials, including metallic/semiconductor structures, carbon materials, organic polymers, and two-dimensional materials. The proper material selection and rational structural design for improving the photothermal performance are then discussed. We also provide a representative overview of the latest techniques for probing photothermally generated heat at the nanoscale. We finally review the recent significant developments of photothermal applications and give a brief outlook on the current challenges and future directions of photothermal nanomaterials.

The Dynamic Mortise-and-Tenon Interlock Assists Hydrated Soft Robots Toward Off-Road Locomotion

Natural locomotion such as walking, crawling, and swimming relies on spatially controlled deformation of soft tissues, which could allow efficient interaction with the external environment. As one of the ideal candidates for biomimetic materials, hydrogels can exhibit versatile bionic morphings. However, it remains an enormous challenge to transfer these in situ deformations to locomotion, particularly above complex terrains. Herein, inspired by the crawling mode of inchworms, an isotropic hydrogel with thermoresponsiveness could evolve to an anisotropic hydrogel actuator via interfacial diffusion polymerization, further evolving to multisection structure and exhibiting adaptive deformation with diverse degrees of freedom. Therefore, a dynamic mortise-and-tenon interlock could be generated through the interaction between the self-deformation of the hydrogel actuator and rough terrains, inducing continual multidimensional locomotion on various artificial rough substrates and natural sandy terrain. Interestingly, benefiting from the powerful mechanical energy transfer capability, the crawlable hydrogel actuators could also be utilized as hydrogel motors to activate static cargos to overstep complex terrains, which exhibit the potential application of a biomimetic mechanical discoloration device. Therefore, we believe that this design principle and control strategy may be of potential interest to the field of deformable materials, soft robots, and biomimetic devices.

Bio-macromolecular design roadmap towards tough bioadhesives

Emerging sutureless wound-closure techniques have led to paradigm shifts in wound management. State-of-the-art biomaterials offer biocompatible and biodegradable platforms enabling high cohesion (toughness) and adhesion for rapid bleeding control as well as robust attachment of implantable devices. Tough bioadhesion stems from the synergistic contributions of cohesive and adhesive interactions. This Review provides a biomacromolecular design roadmap for the development of tough adhesive surgical sealants. We discuss a library of materials and methods to introduce toughness and adhesion to biomaterials. Intrinsically tough and elastic polymers are leveraged primarily by introducing strong but dynamic inter- and intramolecular interactions either through polymer chain design or using crosslink regulating additives. In addition, many efforts have been made to promote underwater adhesion via covalent/noncovalent bonds, or through micro/macro-interlock mechanisms at the tissue interfaces. The materials settings and functional additives for this purpose and the related characterization methods are reviewed. Measurements and reporting needs for fair comparisons of different materials and their properties are discussed. Finally, future directions and further research opportunities for developing tough bioadhesive surgical sealants are highlighted.

Optothermally Programmable Liquids with Spatiotemporal Precision and Functional Complexity

Due to the intrinsic lack of spatial order and self-supported shape, liquids are often incompatible with precision manufacturing/processing and are potentially limited for advanced functionality. Herein, an optothermal strategy is developed to fully command phase-separated liquids with unprecedented spatiotemporal addressability. Specifically, a laser is focused onto an Au film to create a hot spot that locally demixes a temperature-responsive solution to produce a single optothermal droplet. Spatial precision is assured by the well-defined thermal field and temporal accuracy guaranteed by the fast heating and response rate. Time-multiplexed laser foci are deployed to engineer the thermal landscape as desired, which in turn dictates the formation/dissolution, positioning, shaping, and dynamic reconfiguration of the phase-separated liquids. Further, laser foci are programmed to orchestrate the liquid patterns in a time-continuous manner to produce liquid animations on the microscale with high fidelity. While focused lasers are routinely used to manipulate solid particles or to microfabricate solid materials, the current strategy embraces the merits of liquids and features functional complexity in information encryption, payload transportation, and reaction localization. The strategy is further applicable in scenarios such as subcellular organization of biomolecular condensates and programmable modulation of non-equilibrium systems.

Thermoresponsive ionogels with switchable adhesion in air and aqueous environments induced by LCST phase behavior

The rapid development of wearable devices is in urgent demand for materials with switchable adhesion both in air and aqueous environments. Herein, we report a thermoresponsive ionogel with switchable adhesion against various substrates both in air and aqueous environments. The switchable adhesion of ionogels is realized by a phase separation induced collapse of the polymer network and the subsequent extrusion of ionic liquids (ILs) on ionogel surfaces. The hydrophobic poly(butyl acrylate) (PBA) network and ILs endow the ionogels with excellent water-resistance ability, which enables the application of ionogels in aqueous environments. As a result, the adhesion strength of ionogels against rubber can reach an on/off ratio of 75-fold (45 kPa versus 0.6 kPa) and 7.7-fold (21 kPa versus 2.7 kPa) in air and aqueous environments, respectively. By varying the ratio of two structurally similar ILs in their blends, the responsive temperature of ionogels can be tuned within a wide temperature range from 32 °C to 100 °C. Furthermore, we show a demonstration of an underwater on demand capture and release by taking advantage of the switchable adhesion of ionogels. These nonvolatile ionogels with tunable responsive temperatures and high on/off adhesion strength ratio both in air and aqueous environments show broad applications in the fields related to wearable devices, soft robots and submersible sensors.

Photomechanical behavior triggered by [2 + 2] cycloaddition and photochromism of a pyridinium-functionalized coordination complex

Photoinduced bending behavior triggered by [2 + 2] cycloaddition of a photoactive complex has been successfully achieved, accompanied by photochromic and fluorescence changes that provide convenience for long-distance observation of photomechanical motion. The key design feature is based on the introduction of flexible methylene groups and cation-π interactions. Moreover, the potential application in photomechanical devices was reflected by bending and supporting force experiments on the complex composite film, which is of increasing importance especially in soft actuators and robots.

Switchable Adhesion: On-Demand Bonding and Debonding

Adhesives have a long and illustrious history throughout human history. The development of synthetic polymers has highly improved adhesions in terms of their strength and environmental tolerance. As soft robotics, flexible electronics, and intelligent gadgets become more prevalent, adhesives with changeable adhesion capabilities will become more necessary. These adhesives should be programmable and switchable, with the ability to respond to light, electromagnetic fields, thermal, and other stimuli. These requirements necessitate novel concepts in adhesion engineering and material science. Considerable studies have been carried out to develop a wide range of adhesives. This review focuses on stimuli-responsive material-based adhesives, outlining current research on switchable and controlled adhesives, including design and manufacturing techniques. Finally, the potential for smart adhesives in applications, and the development of future adhesive forms are critically suggested.

One-step programmable electrofabrication of chitosan asymmetric hydrogels with 3D shape deformation

Programmable asymmetric hydrogels with tunable structure/shape or physical/chemical properties in response to external stimuli show particular significance in smart systems, but there is lack of simple, rapid, and cheap strategy to design such hydrogel systems. Herein, we report a one-step electrodeposition method to construct chitosan asymmetric hydrogels with tunable thickness and pore size that can be conveniently modulated by the process parameters. Our approach greatly simplifies the process of hydrogel preparation with complex shapes and asymmetric structure organization. The formation mechanism of asymmetric structure has been proposed, based on gelation behavior and entanglement of chitosan chains in the hydrogel-solution system under the electric field. By changing the shape of the electrodes, hydrogels with the morphology of strip, tube, flower, etc. can be obtained precisely and conveniently. They can perform programmable 2D to 3D smart dynamic deformation under pH and metal ions stimulation, indicating the broad application potential in soft robot and biosensor areas.

Precisely Defining Local Gradients of Stimuli-Responsive Hydrogels for Complex 2D-to-4D Shape Evolutions

The intellectualization and complication of existing self-shaping materials are limited by the inseparable monotonic relationship between their deformation rate and deformation degree (i.e., a higher deformation rate is accompanied by a high deformation degree). This causes that they can only deform from 2D to 3D states. Here, a simple yet versatile strategy to decouple the monotonic correlation between the deformation rate and deformation degree of self-shaping hydrogels is presented for achieving complex deformations from 2D to temporary 3D to 3D (2D-to-4D). It is demonstrated that when the gradient hydrogels prepared by photopolymerization possess dense polymer networks, the local regions with a high deformation rate can exhibit a low deformation degree. The resulting hydrogels can thus deform in a novel 2D-to-4D mode under external stimuli. During the deformation, they first transform into the temporary shapes induced by the local deformation rate difference, and then transform into the final shapes determined by the local deformation degree difference. Through controlling the ultraviolet irradiation direction and time to precisely program the local gradients of self-shaping hydrogels, they can be designed to produce various unprecedented yet controllable 2D-to-4D shape evolutions on demand, such as transformable origami, sequential gesture actions in finger-guessing games, mobile octopuses, time switch, etc.

Recyclable silicone elastic light-triggered actuator with a reconfigurable Janus structure and self-healable performance

A recyclable silicone elastic light-triggered actuator with reconfigurable Janus structure and self-healable performance is reported, which was fabricated via heterogeneous crosslinking induced by a gradient intensity of UV light due to CNTs accretion.

Smart Bioinspired Actuators: Crawling, Linear, and Bending Motions through a Multilayer Design

To fulfill the insatiable demand for wearable technologies, ionic electroactive polymer actuators have been entrenched as promising candidates that can convert low-input-voltage energy into high mechanical throughput. However, a ubiquitous trilayer design of actuators allows exclusively bending deformation and their highly nonlinear response restricts the true potential of low-voltage actuators for next-generation technology. Herein, we report an unprecedented multilayer design for soft actuators that enables complex deformations shown by skeletal muscles, mechanoreceptors, and plant roots in response to various environmental stimuli. Hierarchically ordered pores in a stretchable interlayer provide excellent electromechanical properties and fast charging kinetics, which enable linear motion by soft actuators at 3 V and under ambient conditions. Our actuators demonstrate astonishing levels of performance, including a 6.5% linear actuation strain, 0.8 s rapid switching speed, and 5000 cycle stable performance in air, producing a 4.2 mN linear blocking force at a ±3 V alternating square-wave voltage. This actuator design demonstrating a walkable spider capable of controlled back-and-forth propelling motion at low driving voltages provides the platform to envision a complex functionality using a portable battery as a power source for soft robotics, wearable exosuits, and biomimetic technologies.

Polymer Chemistry for Haptics, Soft Robotics, and Human-Machine Interfaces

Progress in the field of soft devices-i.e., haptics, robotics, and human-machine interfaces (HRHMIs)-has its basis in the science of polymeric materials and chemical synthesis. However, in examining the relevant literature, we find that most developments have been enabled by off-the-shelf materials used either alone or as components of physical blends and composites. In this Progress Report, we take the position that a greater awareness of the capabilities of synthetic chemistry will accelerate the capabilities of HRHMIs. Conversely, an awareness of the applications sought by engineers working in this area may spark the development of new molecular designs and synthetic methodologies by chemists. We highlight several applications of active, stimuli-responsive polymers, which have demonstrated or shown potential use in HRHMIs. These materials share the fact that they are products of state-of-the-art synthetic techniques. The Progress Report is thus organized by the chemistry by which the materials were synthesized, including controlled radical polymerization, metal-mediated cross-coupling polymerization, ring-opening polymerization, various strategies for crosslinking, and hybrid approaches. These methods can afford polymers with multiple properties (i.e. conductivity, stimuli-responsiveness, self-healing and degradable abilities, biocompatibility, adhesiveness, and mechanical robustness) that are of great interest to scientists and engineers concerned with soft devices for human interaction.

Strain- and field-induced anisotropy in hybrid elastomers with elongated filler nanoparticles

The implementation of anisotropy to functional materials is a key step towards future smart materials. In this work, we evaluate the influence of preorientation and sample architecture on the strain-induced anisotropy in hybrid elastomers containing covalently attached elongated magnetic filler particles. Accordingly, silica coated spindle-type hematite nanoparticles are incorporated into poly(dimethylsiloxane)-based elastomers, and two types of composite architectures are compared: on the one hand a conventional architecture of filled, covalently crosslinked elastomers, and on the other hybrid elastomers that are crosslinked exclusively by covalent attachment of the polymer chains to the particle surface. By the application of external strain and with magnetic fields, the orientational order of the elongated nanoparticles can be manipulated, and we investigate the interplay between strain, magnetic order, and orientational order of the particles by combining 2D small angle X-ray scattering experiments under strain and fields with Mössbauer spectroscopy under similar conditions, and supplementary angular-dependent magnetization experiments. The converging information is used to quantify the order in these interesting materials, while establishing a direct link between the magnetic properties and the spatial orientation of the embedded magnetic nanoparticles.

Stimulus-Responsive Graphene with Periodical Wrinkles on Grooved Microfiber Arrays: Simulation, Programmable Shape-Shifting, and Catalytic Applications

This work demonstrates a facile fabrication of stimulus-responsive, periodically wrinkled graphene sheets on grooved microfiber arrays with fast and reversible shape change, multiresponsiveness, and programmable deformation, with the aid of finite element analysis (FEA). The cellulose acetate (CA) microfibers, endowing responsiveness to humidity and solvents, are designed to grooved shape and assembled into a well-aligned fibrous mat by electrospinning. Under the guidance of FEA simulation, the stiff reduced graphene oxide (RGO) sheets, serving as a photoresponsive component, could ably bind on grooved CA microfibers with favorable interlocked interfacial-structure. Through simple direct-writing and hot-pressing, the grooved CA arrays interlocked the conformal RGO sheets by water-induced self-clamping, and enabled the generation of periodic wrinkles within RGO sheets to maximize interfacial areas. By simply adjusting the orientation of written RGO patterns relative to uniaxial CA microfibers, programmed and omnidirectional shape-shifting were obtained to minimize strain energy, consisting with the dynamic deformation process simulated by FEA. Upon remote light or contactless humidity stimuli, the RGO/CA mat shows a rapid response (≤1 s), large amplitude (angle change ≥150°, 1.62 cm^-1), sophisticated 3D motions, and lifts objects that weigh 12.7-times its own weight up to over 1/3 of own height within 1 s. After loading catalytical nanoparticles, the RGO/CA mat could rapidly move to the targeted position by continuous crawling even on a slippery surface, and served as a microchannel reactor to trigger a reaction in built-in microchannels with suppressing catalyst leaching while accelerating reaction kinetics by both nanoconfinement and photothermal effect.

Reconfigurable Magnetic Origami Actuators with On-Board Sensing for Guided Assembly

Origami utilizes orchestrated transformation of soft 2D structures into complex 3D architectures, mimicking shapes and functions found in nature. In contrast to origami in nature, synthetic origami lacks the ability to monitor the environment and correspondingly adjust its behavior. Here, magnetic origami actuators with capabilities to sense their orientation and displacement as well as detect their own magnetization state and readiness for supervised folding are designed, fabricated, and demonstrated. These origami actuators integrate photothermal heating and magnetic actuation by using composite thin films (≈60 µm thick) of shape-memory polymers with embedded magnetic NdFeB microparticles. Mechanically compliant magnetic field sensors, known as magnetosensitive electronic skins, are laminated on the surface of the soft actuators. These ultrathin actuators accomplish sequential folding and recovery, with hinge locations programmed on the fly. Endowing mechanically active smart materials with cognition is an important step toward realizing intelligent, stimuli-responsive structures.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

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

Bioinspired Soft Robots Based on the Moisture-Responsive Graphene Oxide

Graphene oxide (GO), which has many oxygen functional groups, is a promising candidate for use in moisture-responsive sensors and actuators due to the strong water-GO interaction and the ultrafast transport of water molecules within the stacked GO sheets. In the last 5 years, moisture-responsive actuators based on GO have shown distinct advantages over other stimuli-responsive materials and devices. Particularly, inspired by nature organisms, various moisture-enabled soft robots have been successfully developed via rational assembly of the GO-based actuators. Herein, the milestones in the development of moisture-responsive soft robots based on GO are summarized. In addition, the working mechanisms, design principles, current achievement, and prospects are also comprehensively reviewed. In particular, the GO-based soft robots are at the forefront of the advancement of automatable smart devices.

Robotic surfaces with reversible, spatiotemporal control for shape morphing and object manipulation

Continuous and controlled shape morphing is essential for soft machines to conform, grasp, and move while interacting safely with their surroundings. Shape morphing can be achieved with two-dimensional (2D) sheets that reconfigure into target 3D geometries, for example, using stimuli-responsive materials. However, most existing solutions lack the ability to reprogram their shape, face limitations on attainable geometries, or have insufficient mechanical stiffness to manipulate objects. Here, we develop a soft, robotic surface that allows for large, reprogrammable, and pliable shape morphing into smooth 3D geometries. The robotic surface consists of a layered design composed of two active networks serving as artificial muscles, one passive network serving as a skeleton, and cover scales serving as an artificial skin. The active network consists of a grid of strips made of heat-responsive liquid crystal elastomers (LCEs) containing stretchable heating coils. The magnitude and speed of contraction of the LCEs can be controlled by varying the input electric currents. The 1D contraction of the LCE strips activates in-plane and out-of-plane deformations; these deformations are both necessary to transform a flat surface into arbitrary 3D geometries. We characterize the fundamental deformation response of the layers and derive a control scheme for actuation. We demonstrate that the robotic surface provides sufficient mechanical stiffness and stability to manipulate other objects. This approach has potential to address the needs of a range of applications beyond shape changes, such as human-robot interactions and reconfigurable electronics.

Recent progress in the shape deformation of polymeric hydrogels from memory to actuation

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli. Due to their wet and soft properties, shape deformation hydrogels are anticipated to be a candidate for the exploration of biomimetic materials, and have shown various potential applications in many fields. Here, an overview of the mechanisms of shape deformation hydrogels and methods for their preparation is presented. Some innovative and efficient strategies to fabricate programmable deformation hydrogels are then introduced. Moreover, successful explorations of their potential applications, including information encryption, soft robots and bionomic systems, are discussed. Finally, remaining great challenges including the achievement of multiple stable deformation states and the combination of shape deformation and sensing are highlighted.

Core-Shell Magnetic Micropillars for Reprogrammable Actuation

Stimuli-responsive micro/nanostructures that exhibit not only programmable but also reprogrammable actuation behaviors are highly desirable for various advanced engineering applications (e.g., anticounterfeiting, information encoding, dynamic imaging and display, microrobotics, etc.) but yet to be realized with state-of-the-art technologies. Here we report a concept and a corresponding experimental technique for core-shell magnetic micropillars enabling simultaneously programmable and reprogrammable actuations using a simple magnetic field. The micropillars are composed of elastomeric hollow shells for shaping encapsulated with liquid magnetic nanocomposite resin cores for actuating. The spatial distribution of the magnetic nanoparticles inside the resin channels can be dynamically modulated within individual micropillars, which consequently regulates the magnetomechanical responses of the pillars upon actuation (bending deformation varied near 1 order of magnitude under the same actuation field). We demonstrate that the micropillars with contrasting bending responses can be configured in an arbitrary spatial pattern by direct magnetic writing, and the written pattern can then be easily magnetically erased to facilitate next-round rewriting and reconfiguration. This reprogrammable actuation capability of the micropillars is further demonstrated by their potential applications for rewritable paper and recyclable displays, where various microscale characteristics can be controlled to dynamically appear and disappear at the same or different locations of one single micropillar array. The core-shell magnetic micropillars reported here provide a universal prototype for reprogrammable responsive micro/nanostructures through rational design and facile fabrication from conventional materials.

Polarization-Modulated Multidirectional Photothermal Actuators

Photothermal actuators have attracted increasing attention due to their ability to convert light energy into mechanical deformation and locomotion. This work reports a freestanding, multidirectional photothermal robot that can walk along a predesigned pathway by modulating laser polarization and on-off switching. Magnetic-plasmonic hybrid Fe₃ O₄ /Ag nanorods are synthesized using an unconventional templating approach. The coupled magnetic and plasmonic anisotropy allows control of the rod orientation, plasmonic excitation, and photothermal conversion by simply applying a magnetic field. Once the rods are fixed with desirable orientations in a bimorph actuator by magnetic-field-assisted lithography, the bending of the actuator can be controlled by switching the laser polarization. A bipedal robot is created by coupling the rod orientation with the alternating actuation of its two legs. Irradiating the robot by a laser with alternating or fixed polarization synergistically results in basic movement (backward and forward) and turning (including left-, right-, and U-turn), respectively. A complex walk along predesigned pathways can be potentially programmed by combining the movement and turning modes of the robots. This strategy provides an alternative driving mechanism for preparing functional soft robots, thus breaking through the limitations in the existing systems in terms of light sources and actuation manners.

Wireless Control of Two- and Three-Dimensional Actuations of Kirigami Patterns Composed of Magnetic-Particles-Polymer Composites

We demonstrate wireless remote control of two-dimensional (2D) and three-dimensional (3D) shape transformations of specially designed kirigami patterns by application of static magnetic fields. The kirigami patterns consist of hinge-linked periodic unit blocks composed of magnetic-particle-elastomer composites. By designing the axis of magnetic anisotropy in each unit block and determining the placement of the hinges that link the individual unit blocks, 2D and 3D transformations of the patterns were demonstrated under application of uniform magnetic fields with specific field directions. Magnetic nanoparticles in an elastomer matrix within unit blocks were aligned in-plane or out-of-plane with respect to the frame of the individual unit blocks by application of magnetic fields. Such 2D and 3D actuations of kirigami patterns might offer a first step toward the development of spatiotemporal actuation and transformation of more complex 3D shapes using magnetic-particle-elastomer composites.

Highly Bidirectional Bendable Actuator Engineered by LCST-UCST Bilayer Hydrogel with Enhanced Interface

Thermoresponsive hydrogel-based actuators are highly important for fundamental research and industrial applications, while the preparation of temperature-driven bilayer hydrogel actuators with rapid response to bend and recover properties remains a challenge. To date, most temperature-driven bilayer hydrogel actuators are based on polymers only with a lower critical solution temperature (LCST) or with an upper critical solution temperature (UCST), which need more time to bend and recover just in a small range of bending angle. Herein, we propose a new strategy to design and synthesize a fully temperature-driven bilayer hydrogel actuator, which consists of a poly(N-acryloyl glycinamide) (NAGA) layer with a UCST-type volume phase change and a poly(N-isopropyl acrylamide) (NIPAM)-Laponite nanocomposite layer with an LCST-type volume phase change. Due to the complementary UCST and LCST behavior of the two selected polymers, both layers have opposite thermoresponsive swelling and shrinkage properties at low and high temperatures; this imbues the hydrogel actuator with rapid thermoresponsive bending and recovery ability, as well as a large bending angle. In addition, the incorporation of Laponite nanosheets in PNIPAM layer not only improves the mechanical property of actuators but also provides the excellent bonding ability of the two-layer interface, which prevents delamination caused by excessive local stress on the interface during the bending process. Thanks to high-performance behavior, the actuator can act as an effective and sensitive actuator, such as a gripper to capture, transport, and release an object, or as an electrical circuit switch to turn on and off a light-emitting diode (LED). Overall, such hydrogel actuator may provide new insights for the design and fabrication of artificial intelligence materials.

Controllable, Bidirectional Water/Organic Vapors Responsive Actuators Fabricated by One-Step Thiol-Ene Click Polymerization

It is challenging to synthesize stimuli-responsive materials with the well-balanced performance of fast stimulus-response speed, good mechanical strength, multi-functionality, and deformation diversity as well. This work reports a facile, one-step thiol-ene click polymerization strategy for preparation of water/acetone vapor-responsive hierarchical films, by using diallyl terephthalate (P) as hydrophobic ene-monomer, 1,4-diallyl-1,4-diazabicyclo [2.2.2]octane-1,4-diium bromide (B) as hydrophilic ene-monomer, and pentaerythritol tetra(3-mercaptopropionate) (PETMP) as thiol monomer. Besides, by taking advantage of the specific hydrophilic/hydrophobic induction effect of substrate and adjusting the molar ratio of P to B, P₆₀ B₄₀ -HPI film is fabricated on hydrophilic substrate "with plasma treatment" whereas P₈₀ B₂₀ -HPO film is obtained on hydrophobic substrate "without plasma treatment". Their "upper-dense and lower-porous" structural feature ensured the excellent combination of fast stimuli-response speed endowed by the porous structure and good mechanical strength enhanced by the upper dense surface. Both films are bidirectional water/acetone vapor-responsive materials, but their bending directions responding to the stimuli factors are completely opposite. This strategy showed great potential in the development of smart stimuli-responsive materials.

Precisely Controlling the Output Force of Hydrogel Actuator Based on Thermodynamic Nonequilibrium Temporary Deformation

Self-shaping hydrogel actuators have promising applications in various fields. However, one hydrogel actuator can generally access only one specifically predefined deformation and output force, which are determined by its thermodynamic equilibrium swelling state under external stimuli. Here, we present a simple yet versatile strategy for precisely programming the output force/energy of dual-gradient hydrogel actuators. The strategy is based on thermodynamic nonequilibrium snapping deformations occurring during the recovery process of predeformed dual-gradient hydrogel actuators in low-temperature water. The output force/energy of such thermodynamic nonequilibrium snapping deformation is highly associated with predeformation conditions of the hydrogel actuators, which increases with the increase of the predeformation temperature or time. In consequence, just by adjusting the predeformation conditions of the dual-gradient hydrogel actuators, their output force, energy, and power can be modulated precisely and continuously during the snapping deformation. The as-prepared hydrogel actuators can not only be used as smart lifters and grippers with ultrahigh accuracy of weight identification but also act as smart switches in the timing circuits with precisely adjustable operating time, paving the way for the design of a new generation of actuation materials.

Highly Tough, Stretchable, Self-Adhesive and Strain-Sensitive DNA-Inspired Hydrogels for Monitoring Human Motion

Hydrogels used as strain sensors often rely on splicing tapes to attach them to surfaces, which causes much inconvenience. Therefore, to develop strain sensor hydrogels that possess both good mechanical properties and self-adhesion is still a great challenge. Inspired by the multiple hydrogen bonding interactions of nucleobases in DNA, we designed and synthesized a series of hydrogels PAAm-GO-Aba/Tba/Aba+Tba comprising polyacrylamide (PAAm), graphene oxide (GO), acrylated adenine and thymine (Aba and Tba). The introduction of nucleobases helps hydrogels to adhere to various substrates through multiple hydrogen-bonding interactions. It has also been found that the adhesive strength of hydrogels with nucleobases for hogskin increased to 2.5 times that of those without nucleobases. Meanwhile, these hydrogels exhibited good dynamic mechanical and self-recovery properties. They can be directly attached to human skin as strain sensors to monitor the motions of finger, wrist, and elbow. Electrical tests indicate that they give precise real-time monitoring data and exhibit good strain sensitivity and electrical stability. This work provides a promising basis from which to explore the fabrication of tough, self-adhesive, and strain-sensitive hydrogels as strain sensors for applications in wearable devices and healthcare monitoring.

Converting Poly(Methyl Methacrylate) into a Triple-Responsive Polymer

Multiresponsive polymers that can respond to several external stimuli are promising materials for a manifold of applications. Herein, a facile method for the synthesis of triple-responsive (pH, temperature, CO2 ) poly(N,N-diethylaminoethyl methacrylamide) by a post-polymerization amidation of poly(methyl methacrylate) (PMMA) is presented. Combined with trivalent counterions ([Fe(CN)6 ]3- ) both an upper and lower critical solution temperature (UCST/LCST)-type phase behavior can be realized at pH 8 and 9. PMMA and PMMA-based block copolymers are readily accessible by living anionic and controlled radical polymerization techniques, which opens access to various responsive polymer architectures based on the developed functionalization method. This method can also be applied on melt-processed bulk PMMA samples to introduce functional, responsive moieties at the PMMA surface.

Viewpoint: Pavlovian Materials-Functional Biomimetics Inspired by Classical Conditioning

Herein, it is discussed whether the complex biological concepts of (associative) learning can inspire responsive artificial materials. It is argued that classical conditioning, being one of the most elementary forms of learning, inspires algorithmic realizations in synthetic materials, to allow stimuli-responsive materials that learn to respond to a new stimulus, to which they are originally insensitive. Two synthetic model systems coined as "Pavlovian materials" are described, whose stimuli-responsiveness algorithmically mimics programmable associative learning, inspired by classical conditioning. The concepts minimally need a stimulus-triggerable memory, in addition to two stimuli, i.e., the unconditioned and the originally neutral stimuli. Importantly, the concept differs conceptually from the classic stimuli-responsive and shape-memory materials, as, upon association, Pavlovian materials obtain a given response using a new stimulus (the originally neutral one); i.e., the system evolves to a new state. This also enables the functionality to be described by a logic diagram. Ample room for generalization to different stimuli and memory combinations is foreseen, and opportunities to develop future adaptive materials with ever-more intelligent functions are expected.

Mechanically programmed 2D and 3D liquid crystal elastomers at macro- and microscale via two-step photocrosslinking

Liquid crystal elastomers (LCEs) are a unique class of active materials with the largest known reversible shape transformation in the solid state. The shape change of LCEs is directed by programming their molecular orientation, and therefore, several strategies to control LC alignment have been developed. Although mechanical alignment coupled with a two-step crosslinking is commonly adopted for uniaxially-aligned monodomain LCE synthesis, the fabrication of 3D-shaped LCEs at the macro- and microscale has been rarely accomplished. Here, we report a facile processing method for fabricating 2D and 3D-shaped LCEs at the macro- and microscales at room temperature by mechanically programming (i.e., stretching, pressing, embossing and UV-imprinting) the polydomain LCE, and subsequent photocrosslinking. The programmed LCEs exhibited a reversible shape change when exposed to thermal and chemical stimuli. Besides the programmed shape changes, the actuation strain can also be preprogrammed by adjusting the extent of elongation of a polydomain LCE. Furthermore, the LCE micropillar arrays prepared by UV-imprinting displayed a substantial change in pillar height in a reversible manner during thermal actuation. Our convenient method for fabricating reversible 2D and 3D-shaped LCEs from commercially available materials may expedite the potential applications of LCEs in actuators, soft robots, smart coatings, tunable optics and medicine.