Light-Guided Growth of Gradient Hydrogels with Programmable Geometries and Thermally Responsive Actuations

Hydrogel-Based Continuum Soft Robots

This paper comprehensively reviews the latest advances in hydrogel-based continuum soft robots. Hydrogels exhibit exceptional flexibility and adaptability compared to traditional robots reliant on rigid structures, making them ideal as biomimetic robotic skins and platforms for constructing highly accurate, real-time responsive sensory interfaces. The article systematically summarizes recent research developments across several key dimensions, including application domains, fabrication methods, actuator technologies, and sensing mechanisms. From an application perspective, developments span healthcare, manufacturing, and agriculture. Regarding fabrication techniques, the paper extensively explores crosslinking methods, additive manufacturing, microfluidics, and other related processes. Additionally, the article categorizes and thoroughly discusses various hydrogel-based actuators responsive to solute/solvent variations, pH, chemical reactions, temperature, light, magnetic fields, electric fields, hydraulic/electro-osmotic stimuli, and humidity. It also details the strategies for designing and implementing diverse sensors, including strain, pressure, humidity, conductive, magnetic, thermal, gas, optical, and multimodal sensors. Finally, the paper offers an in-depth discussion of the prospective applications of hydrogel-based continuum soft robots, particularly emphasizing their potential in medical and industrial fields. Concluding remarks include a forward-looking outlook highlighting future challenges and promising research directions.

Reprogrammable 4D Tissue Engineering Hydrogel Scaffold via Reversible Ion Printing

Shape changeable hydrogel scaffolds recapitulating morphological dynamism of native tissues have emerged as an elegant tool for future tissue engineering (TE) applications, due to their capability to create morphodynamical tissues with complex architectures. Hydrogel scaffolds capable of preprogrammable, reprogrammable and/or reversible shape transformations would widely expand the scope of possible temporal shape changes. Current morphable hydrogels are mostly based on multimaterial, multilayered structures, which involve complicated and time-consuming fabrication protocols, and are often limited to single unidirectional deformation. This work reports on the development of a transformable hydrogel system using a fast, simple, and robust fabrication approach for manipulating the shapes of soft tissues at defined maturation states. Simply by using an ion-transfer printing (ITP) technology (i.e., transferring Ca2+ from an ion reservoir with filter paper and subsequent covering on a preformed alginate-derived hydrogel), a tunable Ca2+ crosslinking density gradient across the hydrogel thickness has been incorporated, which enables preprogrammable deformations upon further swelling in cell culture media. Combining with a surface patterning technology, cell-laden constructs (bioconstructs) capable of morphing in multiple directions are deformed into sophisticated configurations. Not only can the deformed bioconstructs recover their original shapes by chemical treatment, but at user-defined times they can also be incorporated with new, different spatially controlled gradient crosslinking via the ITP process, conferring 3D bioconstruct shape reprogrammability. In this manner, unique "3D-to-3D" shape conversions have been realized. Finally, we demonstrated effective shape manipulation in engineered cartilage-like tissue constructs using this strategy. These morphable scaffolds may advance 4D TE by enabling more sophisticated spatiotemporal control over construct shape evolution.

Harnessing Smectic Ordering for Electric-Field-Driven Guided-Growth of Surface Topography in a Liquid Crystal Polymer

The guided-growth strategy has been widely explored and proved its efficacy in fabricating surface micro/nanostructures in a variety of systems. However, soft materials like polymers are much less investigated partly due to the lack of strong internal driving mechanisms. Herein, the possibility of utilizing liquid crystal (LC) ordering of smectic liquid crystal polymers (LCPs) to induce guided growth of surface topography during the formation of electrohydrodynamic (EHD) patterns is demonstrated. In a two-stage growth, regular stripes are first found to selectively emerge from the homogeneously aligned region of an initially flat LCP film, and then extend neatly along the normal direction of the boundary line between homogeneous and homeotropic alignments. The stripes can maintain their directions for quite a distance before deviating. Coupled with the advanced tools for controlling LC alignment, intricate surface topographies can be produced in LCP films starting from relatively simple designs. The regularity of grown pattern is determined by the LC ordering of the polymer material, and influenced by conditions of EHD growth. The proposed approach provides new opportunities to employ LCPs in optical and electrical applications.

A hydrogel gripper enabling fine movement based on spatiotemporal mineralization

Fine tailoring of the subtle movements of a hydrogel actuator through simple methods has widespread application prospects in wearable electronics, bionic robots and biomedical engineering. However, to the best of our knowledge, this challenge is not yet completed. Inspired by the diffusion-reaction process in nature, a hydrogel gripper with the capability of fine movement was successfully prepared based on the spatiotemporal fabrication of the polypyrrole (PPY) pattern in a poly (N-isopropylacrylamide) (PNIPAM) hydrogel. The hydrogel was given gradient porous structures using a one-step UV irradiation method. Moreover, photothermal PPY patterns on the hydrogel were obtained through spatiotemporal mineralization of ferric hydroxide followed by the polymerization of pyrrole in a controllable manner. Taking advantage of the unique structures, the hydrogel gripper can not only achieve reversible grasping-releasing of substrates with the tuning of temperature (similar to that of hands), but also generate delicate movement under the irradiation of light (resembling that of finger joints). The strategy reported here is easily accessible and there is no need for sophisticated templates, therefore making it superior to other existing methods. We believe this work will provide references for the design and application of more advanced soft actuators.

Electrospun cellulose acetate nanofibrous composites for multi-responsive shape memory actuators and self-powered pressure sensors

Soft actuators and sensors have attracted extensive scientific interest attributed to their great potential applications in various fields, but the integration of actuating and sensing functions in one material is still a big challenge. Here, we developed an electrospun cellulose acetate (CA)/carbon nanotube nanofiborous composite with both functional applications as multi-responsive shape memory actuators and triboelectric nanogenerator (TENG) based sensors. Attributed to excellent thermo- and light-induced shape memory performance, the CA nanofiborous composites showed high heavy-lift capability as light driven actuators, able to lift burdens 1050 times heavier than their own weight. The CA nanofiborous membranes based TENG exhibited high output performance with open-circuit voltage, short-circuit density, and instantaneous power density about 103.2 V, 7.93 mA m^-2 and 0.74 W m^-2, respectively. The fabricated TENG based pressure sensor exhibited a high sensitivity of 3.03 V kPa^-1 below 6.8 kPa and 0.11 V kPa^-1 in the pressure range from 6.8 to 65 kPa, which can be effectively used to monitor human motion state and measure wind velocity. It is expected that the electrospun composites with actuating and sensing functions will show prosperous applications prospects in soft robotics.