Electric Field Actuation of Tough Electroactive Hydrogels Cross-Linked by Functional Triblock Copolymer Micelles

Regional differences in electroactive response of the sclera

The sclera exhibits mechanical response when subjected to an external electric stimulation. The scleral electroactive response is a function of its charge density, mechanical properties, thickness, and strength of the applied electric voltage. The primary objective of the present work was to investigate the regional differences in the electroactive response of porcine sclera. To this end, we cut scleral strips in meridional directions from superior-temporal, superior-nasal, inferior-temporal, and inferior-nasal quadrants. In addition, we excised samples circumferentially from the posterior, equatorial, and anterior regions. The electroactive bending response of these samples was measured under 10 and 15 V in 0.15 M NaCl solution. The meridional samples were tested under two different configurations by clamping them either from their anterior or posterior end. It was observed that the scleral electroactive deformation increased with increasing the the electric voltage. Furthermore, regardless of the region from which meridional strips were excised, their electroactive response was considerably larger when they were clamped from their anterior end. Unlike meridional strips, the electroactive response of circumferential samples was significantly dependent on the location, that is, the average maximum bending angle of posterior samples was significantly larger than that of equatorial and anterior strips. The regionally different electroactive bending response of the sclera was discussed in terms of the variation in its biochemical and biomechanical properties throughout the eyeball.

Review of the Perspectives and Study of Thermo-Responsive Polymer Gels and Applications in Oil-Based Drilling Fluids

Thermoresponsive polymer gels are a type of intelligent material that can react to changes in temperature. These materials possess excellent innovative properties and find use in various fields. This paper systematically analyzes the methods for testing and regulating phase transition temperatures of thermo-responsive polymer gels based on their response mechanism. The report thoroughly introduces the latest research on thermo-responsive polymer gels in oil and gas extraction, discussing their advantages and challenges across various environments. Additionally, it elucidates how the application limitations of high-temperature and high-salt conditions can be resolved through process optimization and material innovation, ultimately broadening the scope of application of thermo-responsive polymer gels in oil and gas extraction. The article discusses the technological development and potential applications of thermo-responsive polymer gels in oil-based drilling fluids. This analysis aims to offer researchers in the oil and gas industry detailed insights into future possibilities for thermo-responsive polymer gels and to provide helpful guidance for their practical use in oil-based drilling fluids.

Hyaluronic acid single-network hydrogel with high stretchable and elastic properties

Stretchable materials have demonstrated great interest in wearable or implantable applications. Most of the existing hydrogels with high stretchability characteristics are based on double networks, exhibit large hysteresis loops, and cannot recover after deformation due to permanent rupture of network. Elastic, biodegradable, and biocompatible hydrogels are desirable for wound dressing of joints with frequent motions or post-surgical healing of mobile tissues. Here, we show a simple strategy for the preparation of a hyaluronic acid (HA) single-network hydrogel that can be stretchable and highly elastic without the addition of other components/partners or complicated processes of preparation. Our strategy relies on the use of high Mw HA to create a chemical hydrogel in which densely entangled HA chains are tied together by a small number of covalent bonds. While the presence of covalent cross-links can prevent disintegration of the HA network, entanglements endow the hydrogel with high stretchability through transmission of tension along the length of the long HA chains. The stretching-relaxation cycles show negligible hysteresis and perfect recovery of material after the release of force. The diminution of Mw together with increasing the concentration or cross-linker amount leads to brittle hydrogels.

Finite Deformation of Scleral Tissue under Electrical Stimulation: An Arbitrary Lagrangian-Eulerian Finite Element Method

The sclera is considered as the principal load-bearing tissue within the eye. The sclera is negatively charged; thus, it exhibits mechanical response to electrical stimulation. We recently demonstrated the electroactive behavior of sclera by performing experimental measurements that captured the deformation of the tip of scleral strips subjected to electric voltage. We also numerically analyzed the electromechanical response of the tissue using a chemo-electro-mechanical model. In the pre-sent study, we extended our previous work by experimentally characterizing the deformation profile of scleral strips along their length under electrical stimulation. In addition, we improved our previous mathematical model such that it could numerically capture the large deformation of samples. For this purpose, we considered the transient variability of the fixed charge density and the coupling between mechanical and chemo-electrical phenomena. These improvements in-creased the accuracy of the computational model, resulting in a better numerical representation of experimentally measured bending angles.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

Magnetic-responsive Covalent Adaptable Networks

Covalent adaptable networks (CANs) are reprocessable polymers whose structural arrangement is based on the recombination of dynamic covalent bonds. Composite materials prepared by incorporating magnetic particles into CANs attract much attention due to their remote and precise control, fast response speed, high biological safety and strong penetration of magnetic stimuli. These properties often involve magnetothermal effect and direct magnetic-field guidance. Besides, some of them can also respond to light, electricity or pH values. Thus, they are favorable for soft actuators since various functions are achieved such as magnetic-assisted self-healing (heating or at ambient temperature), welding (on land or under water), shape-morphing, and so on. Although magnetic CANs just start to be studied in recent two years, their advances are promised to expand the practical applications in both cutting-edge academic and engineering fields. This review aims to summarize recent progress in magnetic-responsive CANs, including their design, synthesis and application.

Multi-Degree-of-Freedom Robots Powered and Controlled by Microwaves

Microwaves have become a promising wireless driving strategy due to the advantages of transmissivity through obstacles, fast energy targeting, and selective heating. Although there are some studies on microwave powered artificial muscles based on different structures, the lack of studies on microwave control has limited the development of microwave-driven (MWD) robots. Here, a far-field MWD parallel robot controlled by adjusting energy distribution via changing the polarization direction of microwaves at 2.47 GHz is first reported. The parallel robot is based on three double-layer bending actuators composed of wave-absorbing sheets and bimetallic sheets, and it can implement circular and triangular path at a distance of 0.4 m under 700 W transmitting power. The thermal response rate of the actuator under microwaves is studied, and it is found that the electric-field components can provide a faster thermal response at the optimal length of actuator than magnetic-field components. The work of the parallel robot is demonstrated in an enclosed space composed of microwave-transparent materials. This developed method demonstrates the multi-degree-of-freedom controllability for robots using microwaves and offers potential solutions for some engineering cases, such as pipeline/reactors inspection and medical applications.

Modeling and experimental investigation of electromechanical properties of scleral tissue; a CEM model using an anisotropic hyperelastic constitutive relation

The sclera is a soft tissue primarily consisting of collagen fibers, elastin, and proteoglycans. The proteoglycans are composed of a core protein and negatively charged glycosaminoglycan side chains. The fixed electric charges inside the scleral extracellular matrix play a key role in its swelling and are expected to cause the tissue to deform in response to an electric field. However, the electroactive response of the sclera has not yet been investigated. The present work experimentally demonstrates that sclera behaves similar to an anionic electrosensitive hydrogel and develops a chemo-electro-mechanical (CEM) mathematical framework for its electromechanical response. In the numerical model, a hyperelastic constitutive law with distributed collagen fibers is used to capture the nonlinear mechanical properties of the sclera, and the coupled Poisson-Nernst-Planck equations represent the distribution of mobile ions throughout the domain. After calibrating the proposed numerical CEM model against the experimental measurements, we employ it to investigate the effects of different parameters on the scleral electromechanical response including the voltage and fixed charge density. The experimental and numerical findings of the present study confirm that sclera behaves as an electroactive hydrogel and provide new insight into the mechanical response of this ocular tissue.

Experimental and numerical analysis of electroactive characteristics of scleral tissue

The sclera provides mechanical support to retina and protects internal contents of the eye against external injuries. The scleral extracellular matrix is mainly composed of collagen fibers and proteoglycans (PGs). At physiological pH, collagen molecules are neutral but PGs contain negatively charged glycosaminoglycan chains. Thus, the sclera can be considered as a polyelectrolyte hydrogel and is expected to exhibit mechanical response when subjected to electrical stimulations. In this study, we mounted scleral strips, dissected from the posterior part of porcine eyes, at the center of a custom-designed container between two electrodes. The container was filled with NaCl solution and the bending deformation of scleral strips as a function of the applied electric voltage was measured experimentally. It was found that scleral strips reached to an average bending angle of 3°, 10° and 23° when subjected to 5V, 10V, and 15V, respectively. We also created a chemo-electro-mechanical finite element model for simulating the experimental measurements by solving coupled Poisson-Nernst-Plank and equilibrium mechanical field equations. The scleral fixed charge density and modulus of elasticity were found by fitting the experimental data. The ion concentration distribution inside the domain was found numerically and was used to explain the underlying mechanisms for the scleral electroactive response. The numerical simulations were also used to investigate the effects of various parameters such as the electric voltage and fixed charge density on the scleral deformation under an electric field. STATEMENT OF SIGNIFICANCE: This manuscript investigates the electroactive response of scleral tissue. It demonstrates that the sclera deforms mechanically when subjected to electrical stimulations. A chemo-electro-mechanical model is also presented in order to numerically capture the electromechanical response of the sclera. This numerical model is used to explain the experimental observations by finding the ion distribution inside the tissue under an electric field. This work is significant because it shows that the sclera is an electroactive polyanionic hydrogel and it provides new information about the underlying mechanisms governing its mechanical and electrical properties.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Programmable Mechanically Active Hydrogel-Based Materials

Programmable mechanically active materials (MAMs) are defined as materials that can sense and transduce external stimuli into mechanical outputs or conversely that can detect mechanical stimuli and respond through an optical change or other change in the appearance of the material. Programmable MAMs are a subset of responsive materials and offer potential in next generation robotics and smart systems. This review specifically focuses on hydrogel-based MAMs because of their mechanical compliance, programmability, biocompatibility, and cost-efficiency. First, the composition of hydrogel MAMs along with the top-down and bottom-up approaches used for programming these materials are discussed. Next, the fundamental principles for engineering responsivity in MAMS, which includes optical, thermal, magnetic, electrical, chemical, and mechanical stimuli, are considered. Some advantages and disadvantages of different responsivities are compared. Then, to conclude, the emerging applications of hydrogel-based MAMs from recently published literature, as well as the future outlook of MAM studies, are summarized.

Fluorescent, electrically responsive and ultratough self-healing hydrogels via bioinspired all-in-one hierarchical micelles

Intelligent hydrogels that simultaneously exhibit excellent toughness, self-healing ability and photoelectronic responsiveness are in high demand but are greatly challenging to prepare. Inspired by the hierarchical structure of fluorescent proteins in jellyfish and biomembranes in nature, herein, a facile and universal all-in-one strategy is demonstrated to construct fluorescent, electrically responsive and ultratough self-healing hydrogels via aqueous self-assembly of polyelectrolyte-surfactant micelles with hierarchical structures and functionality. The self-assembled 2-ureido-4-[1H]-pyrimidone (UPy) hydrophobic core containing reversible physical crosslinks embedded in micelles leads to a durable network structure with excellent toughness and self-healing ability. Moreover, dramatically enhanced fluorescence emission is obtained due to the formation of nanoclusters with electron-rich moieties that show restricted intramolecular motion induced by hydrogen bonding networks from UPy dimer aggregation. The micelle-incorporated sulfonic acid groups mimic the function of biological membrane proteins that deftly control the micelle size, leading to electro-responsiveness, enhanced toughness and fluorescence emission.

Electroactive Polymers Obtained by Conventional and Non-Conventional Technologies

Electroactive polymers (EAPs), materials that present size/shape alteration in response to an electrical stimulus, are currently being explored regarding advanced smart devices, namely robotics, valves, soft actuators, artificial muscles, and electromechanical sensors. They are generally prepared through conventional techniques (e.g., solvent casting and free-radical polymerization). However, non-conventional processes such as those included in additive manufacturing (AM) are emerging as a novel approach to tune and enhance the electromechanical properties of EAPs to expand the scope of areas for this class of electro-responsive material. This review aims to summarize the published work (from the last five years) in developing EAPs either by conventional or non-conventional polymer processing approaches. The technology behind each processing technique is discussed as well as the main mechanism behind the electromechanical response. The most common polymer-based materials used in the design of current EAPs are reviewed. Therefore, the main conclusions and future trends regarding EAPs obtained by conventional and non-conventional technologies are also given.

Recent Applications of Dual-Stimuli Responsive Chitosan Hydrogel Nanocomposites as Drug Delivery Tools

Polysaccharides are a versatile class of macromolecules that are involved in many biological interactions critical to life. They can be further modified for added functionality. Once derivatized, these polymers can exhibit new chemical properties that can be further optimized for applications in drug delivery, wound healing, sensor development and others. Chitosan, derived from the N-deacetylation of chitin, is one example of a polysaccharide that has been functionalized and used as a major component of polysaccharide biomaterials. In this brief review, we focus on one aspect of chitosan’s utility, namely we discuss recent advances in dual-responsive chitosan hydrogel nanomaterials.

Recent progress in magnetic applications for micro- and nanorobots

In recent years, magnetic micro- and nanorobots have been developed and extensively used in many fields. Actuated by magnetic fields, micro- and nanorobots can achieve controllable motion, targeted transportation of cargo, and energy transmission. The proper use of magnetic fields is essential for the further research and development of micro- and nanorobotics. In this article, recent progress in magnetic applications in the field of micro- and nanorobots is reviewed. First, the achievements of manufacturing micro- and nanorobots by incorporating different magnetic nanoparticles, such as diamagnetic, paramagnetic, and ferromagnetic materials, are discussed in detail, highlighting the importance of a rational use of magnetic materials. Then the innovative breakthroughs of using different magnetoelectric devices and magnetic drive structures to improve the micro- and nanorobots are reviewed. Finally, based on the biofriendliness and the precise and stable performance of magnetic micro- and nanorobots in microbial environments, some future challenges are outlined, and the prospects of magnetic applications for micro- and nanorobots are presented.

PEG-Induced Controllable Thin-Thickness Gradient and Water Retention: A Simple Way to Programme Deformation of Hydrogel Actuators

Building the differential growth through the thickness is a promising and challenging approach to design the morphing structures of hydrogel actuators. Besides retaining the size of the hydrogel actuators under environmental stimuli still remains a big challenge. Herein, a facile and universal approach is developed to address both issues by introducing PEG during the polymerization of N-isopropylacrylamide (NIPAm) via one step method using asymmetric mold. Both composition gradient and pore gradient are obtained in micro level along the thickness direction of the final hydrogel, while thin-thickness gradient in macro level. The thickness gradient and water retention can be controllably adjusted by changing PEG concentration. The introduction of PEG effectively improves both responsive and non-shrunken performance by the interaction with PNIPAm. The resultant anisotropic PNIPAm/PEG hydrogel respond quickly and reach maximum deformation (360°) within 10 s at low temperature (40 °C). The various 3D shape and biomimetic movement can be programmed by simply controlling the PEG concentration and mold shape. This strategy can provide new insights into the design intelligent soft materials with 3D morphing for bioinspired and biomedical applications.

Design of an Electro-Stimulated Hydrogel Actuator System with Fast Flexible Folding Deformation under a Low Electric Field

Soft actuators have recently been widely studied due to their significant advantages including light weight, continuous deformability, high environment adaptability, and safe human-robot interactions. In this study, we designed electrically responsive poly(sodium 4-vinylbenzenesulfonate/2-hydroxyethylmethacrylate/acrylamide) (P(VBS/HEMA/AAm)) and poly(sodium 4-vinylbenzenesulfonate/2-hydroxyethyl methacrylate/acrylic acid) (P(VBS/HEMA/AAc)) hydrogels. A series of P(VBS/HEMA/AAm) and P(VBS/HEMA/AAc) hydrogels were prepared by adjusting the monomer composition and cross-linking density to systemically analyze various factors affecting the actuation of hydrogels under an electric field. All hydrogels exhibited more than 65% gel fraction and a high equilibrium water content (EWC) of more than 90%. The EWC of hydrogels gradually increased with decreasing cross-linker content and was also influenced by the monomer composition. The mechanical properties of hydrogels were proportional to the cross-linking density. Particularly, hydrogels showed bending deformation even at low voltages below 10 V, and the electrically responsive bending actuation of hydrogels can be modulated by cross-linking density, monomer composition, applied voltage, ion strength of the electrolyte solution, and geometrical parameters of the hydrogel. By controlling these factors, hydrogels showed a fast response with a bending of more than 100° within a minute. In addition, hydrogels did not show significant cytotoxicity in a biocompatibility test and exhibited more than 84% cell viability. These results indicate that P(VBS/HEMA/AAm) and P(VBS/HEMA/AAc) hydrogels with fast response properties even under a low electric field have the potential to be used in a wide range of soft actuator applications.

4D Printable Tough and Thermoresponsive Hydrogels

Hydrogels with attractive stimuli-responsive volume changing abilities are seeing emerging applications as soft actuators and robots. However, many hydrogels are intrinsically soft and fragile for tolerating mechanical damage in real world applications and could not deliver high actuation force because of the mechanical weakness of the porous polymer network. Conventional tough hydrogels, fabricated by forming double networks, dual cross-linking, and compositing, could not satisfy both high toughness and high stimuli responsiveness. Herein, we present a material design of combining responsive and tough components in a single hydrogel network, which enables the synergistic realization of high toughness and actuation performance. We showcased this material design in an exemplary tough and thermally responsive hydrogel based on PVA/(PVA-MA)-g-PNIPAM, which achieved 100 times higher toughness (∼10 MJ/m³) and 20 times higher actuation stress (∼10 kPa) compared to conventional PNIPAM hydrogels, and a contraction ratio of up to 50% simultaneously. The effects of salt concentration, polymer ratio, and structural design on the mechanical and actuation properties have been systematically investigated. Utilizing 4D printing, actuators of various geometries were fabricated, as well as lattice-architected hydrogels with macro-voids, presenting 4 times faster actuation speed compared to bulk hydrogel, in addition to the high toughness, actuation force, and contraction ratio.

Selective Laser Sintering-Based 4D Printing of Magnetism-Responsive Grippers

Components fabricated by four-dimensional (4D) printing hold the potential for applications in soft robotics because of their characteristics of responding to external stimuli. Grippers, being the common structures used in robotics, were fabricated by the selective laser sintering (SLS)-based 4D printing of magnetism-responsive materials and tested for remote-controllable deformation in an external magnetic field. A composite material consisting of magnetic Nd2Fe14B powder and thermoplastic polyurethane powder was selected as the raw material for the SLS; the magnetic particle acquired permanent magnetism by magnetization after the SLS process. Microscopic characterization showed the homogeneous dispersion of magnetic particles inside the polymer matrix. The magnetic induction intensity distribution was systematically investigated by both experiments and numerical simulations. The reliability of the numerical model proposed was justified by the excellent consistency between them. The deformation of the grippers could be regulated by tuning the magnetic particle content and the distance from the external magnet; the deformation mechanism is investigated numerically. The magnetic driving force and the corresponding horizontal displacement are calculated, thus having high accuracy compared with the existing research that obtained the deformation amount by only visual inspection. Mechanical properties of the SLS-fabricated magnetic polymer composite specimens were also studied because of their close relationship with the deformation behaviors. These findings provide guidance for future research on controllable deformation and driving force calculation for 4D printing.

Stretchable and tough conductive hydrogels for flexible pressure and strain sensors

Flexible pressure and strain sensors have great potential for applications in wearable and implantable devices, soft robotics and artificial skin. Compared to flexible sensors based on filler/elastomer composites, conductive hydrogels are advantageous due to their biomimetic structures and properties, as well as biocompatibility. Numerous chemical and structural designs provide unlimited opportunities to tune the properties and performance of conductive hydrogels to match various demands for practical applications. Many electronically and ionically conductive hydrogels have been developed to fabricate pressure and strain sensors with different configurations, including resistance type and capacitance type. The sensitivity, reliability and stability of hydrogel sensors are dependent on their network structures and mechanical properties. This review focuses on tough conductive hydrogels for flexible sensors. Representative strategies to prepare stretchable, strong, tough and self-healing hydrogels are briefly reviewed since these strategies are illuminating for the development of tough conductive hydrogels. Then, a general account on various conductive hydrogels is presented and discussed. Recent advances in tough conductive hydrogels with well designed network structures and their sensory performance are discussed in detail. A series of conductive hydrogel sensors and their application in wearable devices are reviewed. Some perspectives on flexible conductive hydrogel sensors and their applications are presented at the end.

Development of an Electroactive Hydrogel as a Scaffold for Excitable Tissues

For many cells used in tissue engineering applications, the scaffolds upon which they are seeded do not entirely mimic their native environment, particularly in the case of excitable tissues. For instance, muscle cells experience contraction and relaxation driven by the electrical input of an action potential. Electroactive materials can also deform in response to electrical input; however, few such materials are currently suitable as cell scaffolds. We previously described the development of poly(ethyelene glycol) diacrylate-poly(acrylic acid) as an electroactive scaffold. Although the scaffold itself supported cell growth and attachment, the voltage (20 V) required to actuate these scaffolds was cytotoxic. Here, we describe the further development of our hydrogels into scaffolds capable of actuation at voltages (5 V) that were not cytotoxic to seeded cells. This study describes the critical next steps towards the first functional electroactive tissue engineering scaffold.

Mechano-Responsive, Tough, and Antibacterial Zwitterionic Hydrogels with Controllable Drug Release for Wound Healing Applications

Acute wounds subject to frequent deformations are difficult to be treated because the healing process was easily interfered by external mechanical forces. Traditional wound dressings have limited efficacy because of their poor mechanical properties and skin adhesiveness and difficulty in the delivery of therapeutic drugs effectively. As such, tough and skin-adhesive wound dressings with sustainable and stimuli-responsive drug release properties for treatment of those wounds are highly desirable. For this purpose, we have developed a mechano-responsive poly(sulfobetaine methacrylate) hydrogel which aims to control the delivery of antibiotic drug upon application of mechanical forces. Diacrylated Pluronic F127 micelles were used as a macro-cross-linker of the hydrogel and loaded with hydrophobic antimicrobial drugs. The micelle-cross-linked hydrogel has excellent mechanical properties, with the ultimate tensile strength and tensile strain of up to 112 kPa and 1420%, respectively, and compressive stress of up to 1.41 MPa. Adhesiveness of the hydrogel to the skin tissue was ∼6 kPa, and it did not decrease significantly after repetitive adhesion cycles. Protein adsorption on the hydrogel was significantly inhibited compared to that on commercial wound dressings. Because of the mechano-responsive deformation of micelles, the release of drug from the hydrogel could be precisely controlled by the extent and cycles of mechanical loading and unloading, endowing the hydrogel with superior antibacterial property against both Gram-positive and Gram-negative bacteria. In addition, drug penetration into the skin tissue was enhanced by mechanical stress applied to the hydrogel. The micelle-cross-linked zwitterionic hydrogel also showed good cell biocompatibility, negligible skin irritation, and healing capacity to acute skin wounds in mice. Such a tough mechano-responsive hydrogel holds great promise as wound dressings for acute wounds subjected to frequent movements.

Shape memory effect and rapid reversible actuation of nanocomposite hydrogels with electrochemically controlled local metal ion coordination and crosslinking

Rapid and reversible actuation and shape memory effects are critical for biomimetic soft actuators based on polymer hydrogels. However, most conventional hydrogel actuators show very slow actuation or deformation rates in water. It remains a challenge to realize rapid actuations, particularly for hydrogels to actuate in air. Here, a novel strategy to create diverse hydrogel devices with shape memory effects and rapid reversible actuations even in air was demonstrated. This strategy relies on a precise definition of local crosslinking by using multivalent metal ion coordination. This is demonstrated by infiltrating Fe3+ ions into stretchable nanocomposite polyacrylamide hydrogels with the amide groups converted into primary amine groups for multivalent coordination and crosslinking. The Fe3+ coordination with amine groups enhanced the crosslink density and modulus, leading to deswelling. By using an iron rod electrode, the Fe3+ coordination and crosslinking were precisely controlled to generate hydrogels with heterogeneous local crosslinking, including Janus hydrogels, S-shaped hydrogels, and cross-shaped hydrogel grippers. These soft devices were reversibly actuated in tens of seconds when cyclically dehydrated in ethanol and rehydrated in water. Most interestingly, very rapid reversible actuations of a hydrogel device in air were demonstrated by using electro-redox reaction of Fe3+ and Fe2+ in the hydrogel, where the reversible local coordination crosslinking and decomposition served as a hinge to actuate the hydrogel. This strategy based on reversible local coordination and crosslinking may open an avenue for rapid fabrication of hydrogel devices with well-defined structures and actuation properties.

Preoperative vascular surgery model using a single polymer tough hydrogel with controllable elastic moduli

Materials used in organ mimics for medial simulation and education require tissue-like softness, toughness, and hydration to give clinicians and students accurate tactile feedback. However, there is a lack of materials that satisfy these requirements. Herein, we demonstrate that a stretchable and tough polyacrylamide hydrogel is useful to build organ mimics that match softness, crack growth resistance, and interstitial water of real organs. Varying the acrylamide concentration between 29 or 62% w/w with a molar ratio between cross-linker and acrylamide of 1 : 10 800 resulted in a fracture energy around ∼2000 J m^-2. More interestingly, this tough gel permitted variation of the elastic modulus from 8 to 62 kPa, which matches the softness of brain to vascular and muscle tissue. According to the rheological frequency sweep, the tough polyacrylamide hydrogels had a greatly decreased number of flow units, indicating that when deformed, stress was dispersed over a greater area. We propose that such molecular dissipation results from the increased number of entangled polymers between distant covalent cross-links. The gel was able to undergo various manipulations including stretching, puncture, delivery through a syringe tip, and suturing, thus enabling the use of the gel as a blood vessel model for microsurgery simulation.

Stimuli-responsive functional materials for soft robotics

Functional materials have spurred the advancement of soft robotics with the potential to perform safe interactions and adaptative functions in unstructured environments. The responses of functional materials under external stimuli lend themselves to programmable actuation and sensing, opening up new possibilities of robot design with built-in mechanical intelligence and unlocking new applications. Here, we review the development of stimuli-responsive functional materials particularly used for soft robotic systems. This review covers five representative types of soft stimuli-responsive functional materials, namely (i) dielectric elastomers, (ii) hydrogels, (iii) shape memory polymers, (iv) liquid crystal elastomers, and (v) magnetic materials, with focuses on their inherent material properties, working mechanisms, and design strategies for actuation and sensing. We also highlight the state-of-the-art applications of soft stimuli-responsive functional materials in locomotion robots, grippers and sensors. Finally, we summarize the current challenges and map out future trends for engineering next-generation functional materials for soft robotics.

A controllable oil-triggered actuator with aligned microchannel design for implementing precise deformation

Soft actuators with the integration of facile preparation, rapid actuation rate, sophisticated motions, and precise control over deformation for application in complex devices are still highly desirable. Inspired by the aligned structures of moisture responsive pineal scales, an oil-triggered Janus actuator composed of a smooth hydrophobic surface and a superhydrophobic surface with aligned microchannels by simple laser etching was fabricated successfully, which can deform into various desirable shapes and recover to the original shape when triggered by oil and ethanol molecules. The aligned microchannel design causes different oil spread distances in the longitudinal and transverse directions, resulting in orientation-controlled bending and twisting with large-scale displacement. By changing the orientations of the patterned microchannels, one-dimensional folding deformation, twisting, rolling curling and object-inspired architectures can be facilely programmed. The reversible oil-triggered actuator will inspire more attractive applications such as in vivo surgery, biomimetic devices, energy harvesting systems and soft robotics.

Programmable and Reversible 3D-/4D-Shape-Morphing Hydrogels with Precisely Defined Ion Coordination

Precise and programmable control of reversible deformations of hydrogels has important implications for bionics. This work reports on programmable three-dimensional (3D) deformations and thermoresponsive actuation of polymer hydrogels in a well-defined manner. Precise infiltration of Fe³⁺ with periodic patterns is additionally used to cross-link the local polymer network through ionoprinting with a patterned electrode array. The patterned Fe³⁺ cross-linking generates periodic undulations in cross-link density, stiffness, and thermoresponsiveness. The internal stress induces 3D helical structures with tunable chirality and dimensions. The differential thermoresponsiveness imbues a fourth dimension to the shape deformations. Moreover, sequential ionoprinting generates well-defined in-plane periodic distributions of differential modulus and responsiveness, leading to 3D/4D umbrella-like origami upon temperature triggers.

A Material Combination Concept to Realize 4D Printed Products with Newly Emerging Property/Functionality

4D printing is a newly emerging technique that shows the capability of additively manufacturing structures whose shape, property, or functionality can controllably vary with time under external stimuli. However, most of the existing 4D printed products only focus on the variation of physical geometries, regardless of controllable changes of their properties, as well as practical functionality. Here, a material combination concept is proposed to construct 4D printed devices whose property and functionality can controllably vary. The 4D printed devices consist of conductive and magnetic parts, enabling the integrated devices to show a piezoelectric property even neither part is piezoelectric individually. Consequently, the functionality of the devices is endowed to transfer mechanical to electrical energy based on the electromagnetic introduction principle. The working mechanism of 4D printed devices is explained by a numerical simulation method using Comsol software, facilitating further optimization of their properties by regulating diverse parameters. Due to the self-powered, quick-responding, and sensitive properties, the 4D printed magnetoelectric device could work as pressure sensors to warn illegal invasion. This work opens a new manufacturing method of flexible magnetoelectric devices and provides a new material combination concept for the property-changed and functionality-changed 4D printing.

Effects of Topology Optimization in Multimaterial 3D Bioprinting of Soft Actuators

Recently, there has been a proliferation of soft robots and actuators that exhibit improved capabilities and adaptability through three-dimensional (3D) bioprinting. Flexibility and shape recovery attributes of stimuli-responsive polymers as the main components in the production of these dynamic structures enable soft manipulations in fragile environments, with potential applications in biomedical and food sectors. Topology optimization (TO), when used in conjunction with 3D bioprinting with optimal design features, offers new capabilities for efficient performance in compliant mechanisms. In this paper, multimaterial TO analysis is used to improve and control the bending performance of a bioprinted soft actuator with electrolytic stimulation. The multimaterial actuator performance is evaluated by the amplitude and rate of bending motion and compared with the single material printed actuator. The results demonstrated the efficacy of multimaterial 3D bioprinting optimization for the rate of actuation and bending.

Effects of Topology Optimization in Multimaterial 3D Bioprinting of Soft Actuators

Recently, there has been a proliferation of soft robots and actuators that exhibit improved capabilities and adaptability through three-dimensional (3D) bioprinting. Flexibility and shape recovery attributes of stimuli-responsive polymers as the main components in the production of these dynamic structures enable soft manipulations in fragile environments, with potential applications in biomedical and food sectors. Topology optimization (TO), when used in conjunction with 3D bioprinting with optimal design features, offers new capabilities for efficient performance in compliant mechanisms. In this paper, multimaterial TO analysis is used to improve and control the bending performance of a bioprinted soft actuator with electrolytic stimulation. The multimaterial actuator performance is evaluated by the amplitude and rate of bending motion and compared with the single material printed actuator. The results demonstrated the efficacy of multimaterial 3D bioprinting optimization for the rate of actuation and bending.

Multipolar spatial electric field modulation for freeform electroactive hydrogel actuation

Electroactive hydrogels that exhibit large deformation in response to an electric field have received significant attention as a potential actuating material for soft actuators and artificial muscle. However, their mechanical actuation has been limited in simple bending or folding due to uniform electric field modulation. To implement complex movements, a pre-program, such as a hinge and a multilayer pattern, is usually required for the actuator in advance. Here, we propose a reprogrammable actuating method and sophisticated manipulation by using multipolar three-dimensional electric field modulation without pre-program. Through the multipolar spatial electric field modulator, which controls the polarity/intensity of the electric field in three-dimensions, complex three-dimensional (3D) actuation of single hydrogels are achieved. Also, air bubbles generated during operation in the conventional horizontal configuration are not an issue in the proposed new vertical configuration. We demonstrate soft robotic actuators, including basic bending mechanics in terms of controllability and reliability, and several 3D shapes having positive and negative curvature can easily be achieved in a single sheet, paving the way for continuously reconfigurable materials.

Solid-phase esterification between poly(vinyl alcohol) and malonic acid and its function in toughening hydrogels

Solid-phase esterification reactions occur in the poly(vinyl alcohol)-malonic acid (PVA-MA) hydrogel by a simple drying treatment without using any catalyst under ambient conditions, which largely strengthen the hydrogel.

Specialty Tough Hydrogels and Their Biomedical Applications

Hydrogels have long been explored as attractive materials for biomedical applications given their outstanding biocompatibility, high water content, and versatile fabrication platforms into materials with different physiochemical properties and geometries. Nonetheless, conventional hydrogels suffer from weak mechanical properties, restricting their use in persistent load-bearing applications often required of materials used in medical settings. Thus, the fabrication of mechanically robust hydrogels that can prolong the lifetime of clinically suitable materials under uncompromising in vivo conditions is of great interest. This review focuses on design considerations and strategies to construct such tough hydrogels. Several promising advances in the proposed use of specialty tough hydrogels for soft actuators, drug delivery vehicles, adhesives, coatings, and in tissue engineering settings are highlighted. While challenges remain before these specialty tough hydrogels will be deemed translationally acceptable for clinical applications, promising preliminary results undoubtedly spur great hope in the potential impact this embryonic research field can have on the biomedical community.

Synergy of Single-ion Conductive and Thermo-responsive Copolymer Hydrogels Achieving Anti-Arrhenius Ionic Conductivity

Artificial intelligence sensations have aroused scientific interest from electronic conductors to bio-inspired ionic conductors. The conductivity of electrons decreases with increasing temperature, while the ionic conductivity agrees with an Arrhenius equation or a modified Vogel-Tammann-Fulcher (VTF) equation. Herein, thermo-responsive poly(N-isopropyl amide) (PNIPAm) and single-ion-conducting poly(2-acrylamido-2-methyl-1-propanesulfonic lithium salt) (PAMPSLi) were copolymerized via a facile radical polymerization to demonstrate a very intriguing anti-Arrhenius ionic conductivity behaviour during thermally induced volume-phase transition. These smart hydrogels presented very promising scaffolds for architecting flexible, wearable or advanced functional ionic devices.

Janus Soft Actuators with On-Off Switchable Behaviors for Controllable Manipulation Driven by Oil

Soft actuators have tremendous applications in diverse fields. Facile preparation, rapid actuation, and versatile actions are always pursued when developing new types of soft actuators. In this paper, we present a facile method integrating laser etching and mechanical cutting to prepare Janus actuators driven by oil. A Janus film with superhydrophobic and hydrophobic sides was fabricated successfully. By cutting the functional layer at the desired positions, a number of quintessential oil-driven soft devices were demonstrated. Furthermore, Janus actuators with surfaces of different wettabilities exhibited different swelling behaviors, and different media manifested different surface extensions; thus, these actuators are promising candidates for soft actuators and also realized on-off switchability between an oil/water mixture and ethanol. This study offers novel insight into the design of soft actuators, and this insight may be helpful for developing an oil-driven soft actuator that can be operated like a human finger to manipulate any object and extending stimuli-responsive applications for soft robotics.

Super tough bilayer actuators based on multi-responsive hydrogels crosslinked by functional triblock copolymer micelle macro-crosslinkers

Intelligent hydrogels responsive to external stimuli have been widely studied due to their great potentials for applications in artificial muscles, soft robotics, sensors and actuators. However, the weak mechanical properties, narrow response range, and slow response speed of many responsive hydrogels have hindered practical applications. In this paper, tough multi-responsive hydrogels were synthesized by using vinyl-functionalized triblock copolymer micelles as macro-crosslinkers and N-isopropyl acrylamide (NIPAM) and acrylamide (AAm) or 2-(dimethylamino)ethyl methacrylate (DMAEMA) and 2-acrylamido-2-methyl-1-propane-sulfonic acid (AMPS) as monomers. The P(NIPAM-co-AAm) hydrogels presented tensile strength of up to 1.6 MPa and compressive strength of up to 127 MPa and were tunable by changing their formulations. Moreover, the lower critical solution temperature (LCST) of the thermosensitive hydrogels was manipulated in a wide range by changing the molar ratio of NIPAM to AAm. Responsive hydrogel bilayers were fabricated through a two-step synthesis. A second layer of P(DMAEMA-co-AMPS) was synthesized on the first P(NIPAM-co-AAm) layer to obtain a bilayer hydrogel, which was responsive to temperature, pH and ionic strength changes to undergo fast and reversible shape transformation in a few minutes. This kind of strong and tough multi-responsive hydrogel device has broad prospects in soft actuators.

Tough and electro-responsive hydrogel actuators with bidirectional bending behavior

Electro-responsive hydrogel actuators have gained much attention because of their fast response, low power consumption and easy modulation. However, such hydrogel actuators suffer from poor mechanical properties and restricted bending direction, which limit their practical applications. Herein, we report a nanocomposite hydrogel actuator with a combination of high mechanical tensile strength (2 MPa) and automatic bidirectional bending behavior in response to electric signals. The resulting hydrogel, crosslinked by aluminum hydroxide nanoparticles, shows rapid bending behavior and could be cyclically actuated up to ten times in an electric field. Furthermore, the hydrogel demonstrates bidirectional bending actuation, which was ascribed to the difference in diffusion coefficients and concentrations of cations and anions within the gel network. Moreover, the direction and magnitude of the bending behavior could be tuned by composition variation. The hydrogel actuators developed in this study may have great potential in soft robotics, artificial muscles and tissue engineering.