NIR-UV Responsive Actuator with Graphene Oxide/Microchannel-Induced Liquid Crystal Bilayer Structure for Biomimetic Devices

Thermally responsive spatially programmable soft actuators with multiple response states enabled by Grayscale UV light processing

Soft actuators hold great promise for applications in biomimetic robots, artificial muscles, and drug delivery systems due to their adaptability in diverse environments. A critical aspect of designing thermally responsive soft actuators is to achieve spatially programmable actuation under a global thermal stimulus. Different local actuation behaviors can be encoded in one actuator to enable complex morphing structures for different tasks. However, it is challenging to achieve programmability beyond one or binary states. This work introduces a new grayscale ultraviolet (UV) light processing method to fabricate soft actuators with spatially tunable Young's modulus, enabling multiple programmable states in one actuator. Together with a liquid crystal elastomer actuation layer and a photothermal heating layer, the LCE programming layer with spatially programmable moduli allows different regions of the soft actuator to bend to controllable extents under a global thermal stimulus. Various shape morphing patterns can be encoded using UV photomasks with spatially controlled grayscales. Additionally, caterpillar-inspired robots capable of bi-directional crawling and octopus-arm-inspired structures for object manipulation are demonstrated. This work represents advancements in the programmability of thermally responsive soft actuators, laying the foundation for their applications in advanced soft robotic systems.

Graphene-Liquid Crystal Synergy: Advancing Sensor Technologies across Multiple Domains

This review explores the integration of graphene and liquid crystals to advance sensor technologies across multiple domains, with a focus on recent developments in thermal and infrared sensing, flexible actuators, chemical and biological detection, and environmental monitoring systems. The synergy between graphene's exceptional electrical, optical, and thermal properties and the dynamic behavior of liquid crystals leads to sensors with significantly enhanced sensitivity, selectivity, and versatility. Notable contributions of this review include highlighting key advancements such as graphene-doped liquid crystal IR detectors, shape-memory polymers for flexible actuators, and composite hydrogels for environmental pollutant detection. Additionally, this review addresses ongoing challenges in scalability and integration, providing insights into current research efforts aimed at overcoming these obstacles. The potential for multi-modal sensing, self-powered devices, and AI integration is discussed, suggesting a transformative impact of these composite sensors on various sectors, including health, environmental monitoring, and technology. This review demonstrates how the fusion of graphene and liquid crystals is pushing the boundaries of sensor technology, offering more sensitive, adaptable, and innovative solutions to global challenges.

Photochromic Carbon Nanomaterials: An Emerging Class of Light-Driven Hybrid Functional Materials

Photochromic molecules have remarkable potential in memory and optical devices, as well as in driving and manipulating molecular motors or actuators and many other systems using light. When photochromic molecules are introduced into carbon nanomaterials (CNMs), the resulting hybrids provide unique advantages and create new functions that can be employed in specific applications and devices. This review highlights the recent developments in diverse photochromic CNMs. Photochromic molecules and CNMs are also introduced. The fundamentals of different photochromic CNMs are discussed, including design principles and the types of interactions between CNMs and photochromic molecules via covalent interactions and non-covalent bonding such as π-π stacking, amphiphilic, electrostatic, and hydrogen bonding. Then the properties of photochromic CNMs, e.g., in photopatterning, fluorescence modulation, actuation, and photoinduced surface-relief gratings, and their applications in energy storage (solar thermal fuels, photothermal batteries, and supercapacitors), nanoelectronics (transistors, molecular junctions, photo-switchable conductance, and photoinduced electron transfer), sensors, and bioimaging are highlighted. Finally, an outlook on the challenges and opportunities in the future of photochromic CNMs is presented. This review discusses a vibrant interdisciplinary research field and is expected to stimulate further developments in nanoscience, advanced nanotechnology, intelligently responsive materials, and devices.

Carbon Micro/Nano Machining toward Miniaturized Device: Structural Engineering, Large-Scale Fabrication, and Performance Optimization

With the rapid development of micro/nano machining, there is an elevated demand for high-performance microdevices with high reliability and low cost. Due to their outstanding electrochemical, optical, electrical, and mechanical performance, carbon materials are extensively utilized in constructing microdevices for energy storage, sensing, and optoelectronics. Carbon micro/nano machining is fundamental in carbon-based intelligent microelectronics, multifunctional integrated microsystems, high-reliability portable/wearable consumer electronics, and portable medical diagnostic systems. Despite numerous reviews on carbon materials, a comprehensive overview is lacking that systematically encapsulates the development of high-performance microdevices based on carbon micro/nano structures, from structural design to manufacturing strategies and specific applications. This review focuses on the latest progress in carbon micro/nano machining toward miniaturized device, including structural engineering, large-scale fabrication, and performance optimization. Especially, the review targets an in-depth evaluation of carbon-based micro energy storage devices, microsensors, microactuators, miniaturized photoresponsive and electromagnetic interference shielding devices. Moreover, it highlights the challenges and opportunities in the large-scale manufacturing of carbon-based microdevices, aiming to spark further exciting research directions and application prospectives.

Multifunctional UV-NIR Dual Light-Responsive Soft Actuators from a Main-Chain Azobenzene Semi-Crystalline Poly(ester-amide) Doped with Polydopamine Nanoparticles

The development of soft photoactuators with multifunctionality and improved performance is highly important for their broad applications. Herein, we report on a facile and efficient strategy for fabricating such photoactuators with UV-NIR dual light-responsivity, room-temperature 3D shape reprogrammability and reprocessability, and photothermal healability by doping polydopamine (PDA) nanoparticles into a main-chain azobenzene semi-crystalline poly(ester-amide) (PEA). The PEA/PDA nanoparticle composite was readily processed into free-standing films with enhanced mechanical and photomechanical properties compared with the blank PEA films. Its physically crosslinked uniaxially oriented films showed rapid and highly reversible photochemically induced bending/unbending under the UV/visible light irradiation at room temperature in both the air atmosphere and water. When exposed to the NIR light, they (and their bilayer films formed with a polyimide film) exhibited photothermally induced bending even at a temperature much lower than their crystalline-to-isotropic phase transition temperature based on a unique mechanism (involving photothermally induced polymer chain relaxation due to the disruption of their hydrogen bonds). The room-temperature 3D shape reprogrammability and reprocessability and photothermal healability of the composite polymer films were also demonstrated. Such multifunctional dual light-responsive photoactuators with well-balanced mechanical robustness, actuation stability, 3D shape reprogrammability/reprocessability and photothermal healability hold much promise in various photoactuating applications.

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator

Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.

Modeling of Paper-Based Bi-Material Cantilever Actuator for Microfluidic Biosensors

This research explores the dynamics of a fluidically loaded Bi-Material cantilever (B-MaC), a critical component of μPADs (microfluidic paper-based analytical devices) used in point-of-care diagnostics. Constructed from Scotch Tape and Whatman Grade 41 filter paper strips, the B-MaC's behavior under fluid imbibition is examined. A capillary fluid flow model is formulated for the B-MaC, adhering to the Lucas-Washburn (LW) equation, and supported by empirical data. This paper further investigates the stress-strain relationship to estimate the modulus of the B-MaC at various saturation levels and to predict the behavior of the fluidically loaded cantilever. The study shows that the Young's modulus of Whatman Grade 41 filter paper drastically decreases to approximately 20 MPa (about 7% of its dry-state value) upon full saturation. This significant decrease in flexural rigidity, in conjunction with the hygroexpansive strain and coefficient of hygroexpansion (empirically deduced to be 0.008), is essential in determining the B-MaC's deflection. The proposed moderate deflection formulation effectively predicts the B-MaC's behavior under fluidic loading, emphasizing the measurement of maximum (tip) deflection using interfacial boundary conditions for the B-MaC's wet and dry regions. This knowledge of tip deflection will prove instrumental in optimizing the design parameters of B-MaCs.

Paper-Based Bi-Material Cantilever Actuator Bending Behavior and Modeling

In this paper, the behavior of the Bi-Material Cantilever (B-MaC) response deflection upon fluidic loading was experimentally studied and modeled for bilayer strips. A B-MaC consists of a strip of paper adhered to a strip of tape. When fluid is introduced, the paper expands while the tape does not, which causes the structure to bend due to strain mismatch, similar to the thermal loading of bi-metal thermostats. The main novelty of the paper-based bilayer cantilevers is the mechanical properties of two different types of material layers, a top layer of sensing paper and a bottom layer of actuating tape, to create a structure that can respond to moisture changes. When the sensing layer absorbs moisture, it causes the bilayer cantilever to bend or curl due to the differential swelling between the two layers. The portion of the paper strip that gets wet forms an arc, and as the fluid advances and fully wets the B-MaC, the entire B-MaC assumes the shape of the initial arc. This study showed that paper with higher hygroscopic expansion forms an arc with a smaller radius of curvature, whereas thicker tape with a higher Young's modulus forms an arc with a larger radius of curvature. The results showed that the theoretical modeling could accurately predict the behavior of the bilayer strips. The significance of paper-based bilayer cantilevers lies in their potential applications in various fields, such as biomedicine, and environmental monitoring. In summary, the novelty and significance of paper-based bilayer cantilevers lie in their unique combination of sensing and actuating capabilities using a low-cost and environmentally friendly material.

Light-Responsive Supramolecular Nanotubes-Based Chiral Plasmonic Assemblies

We describe the fabrication of dual-responsive (thermo/light) chiral plasmonic films. The idea is based on using photoswitchable achiral liquid crystal (LCs) forming chiral nanotubes for templating helical assemblies of Au NPs. Circular dichroism spectroscopy (CD) confirms chiroptical properties coming from the arrangement of organic and inorganic components, with up to 0.2 dissymmetry factor (g-factor). Upon exposure to UV light, organic molecules isomerize, resulting in controlled melting of organic nanotubes and/or inorganic nanohelices. The process can be reversed using visible light and further modified by varying the temperature, offering a control of chiroptical response of the composite material. These properties can play a key role in the future development of chiral plasmonics, metamaterials, and optoelectronic devices.

Applications of Graphene in Five Senses, Nervous System, and Artificial Muscles

Graphene remains of great interest in biomedical applications because of biocompatibility. Diseases relating to human senses interfere with life satisfaction and happiness. Therefore, the restoration by artificial organs or sensory devices may bring a bright future by the recovery of senses in patients. In this review, we update the most recent progress in graphene based sensors for mimicking human senses such as artificial retina for image sensors, artificial eardrums, gas sensors, chemical sensors, and tactile sensors. The brain-like processors are discussed based on conventional transistors as well as memristor related neuromorphic computing. The brain-machine interface is introduced for providing a single pathway. Besides, the artificial muscles based on graphene are summarized in the means of actuators in order to react to the physical world. Future opportunities remain for elevating the performances of human-like sensors and their clinical applications.

Preparation of Flexible Liquid Crystal Films with Broadband Reflection Based on PD&SLC

A simple and efficient method for the preparation of a film with flexible characteristic and selective reflection of near-infrared light is proposed. Based on the coexistence system (PD&SLC) of polymer dispersed liquid crystals (PDLC) and polymer stabilized liquid crystals (PSLC), it combines the flexibility of PDLC with the selectively reflection of PSLC. Innovative use of step-by-step light curing to achieve microstructural differences in the three-dimensional orientation of the material is proposed. That is, the difference between PDLC and PSLC in the planar orientation, as well as the gradient distribution of cholesteric phase liquid crystal pitch in the cell thickness direction, is observed. While realizing the flexibility of the material, the function of broadening the reflection bandwidth is fulfilled. This method of preparing liquid crystal films is expected to have great potential for applications, such as flexible smart windows, infrared light shielding, and sensors.

Multistimuli-Responsive Hydroplaning Superhydrophobic Microrobots with Programmable Motion and Multifunctional Applications

Superhydrophobic microrobots that can swim efficiently and rapidly on water under the action of external stimuli have attracted significant research attention for various applications. However, most studies on superhydrophobic microrobots have focused on single-stimulus driving modes, which limit the motion and functional applications of microrobots in complex aquatic environments. Therefore, multistimuli-responsive superhydrophobic microrobots that are capable of drifting rapidly on water through light, magnetic, and chemical control were developed in this study. The stability and environmental adaptability of the microrobots were systematically investigated. The microrobots achieved programmable trajectory motion on water, particularly complex motions such as circular, spiral, and helical movements under the coupled influence of chemical and magnetic fields. Importantly, the motion and control of multimicrorobots can be realized by combining control methods. Under the action of light and magnetic field, multimicrorobots could realize cooperative movement and completed the transportation of cargo. Additionally, broad multifunctional applications of the microrobots were explored in terms of oil spill recovery and solution mix. This study provides a method for the preparation and development of superhydrophobic microrobots with multistimuli-responsive characteristics.

Dynamics of the photo-thermo-mechanical actuations in NIR-dye doped liquid crystal polymer networks

We describe photo-thermo-mechanical actuation and its dynamics in thin films of a liquid crystal networks (LCN) under near infrared (NIR) illumination through experiments and simulations. Splay aligned films of different thicknesses (25 μm to 100 μm) were obtained by crosslinking a mixture of mono-functional and bi-functional liquid crystal monomers. The NIR-driven thermo-mechanical actuation was achieved by adding an NIR dye to the monomer mixture. The absorption of incoming radiation by the dye molecules raises the local temperature of the film causing an order-disorder (nematic-isotropic) transition, thereby resulting in a macroscopic shape change. We have investigated the effect of film thickness, NIR laser power and dye concentration on the tip displacement of the films in a cantilever configuration. The experimental findings and finite element simulation results are in reasonably good quantitative agreement. Despite using lower NIR powers than typically employed, the films show high actuation and large displacements. After achieving saturation in actuation, the films exhibit a flutter behavior which is discussed in light of the observed overshoot in the tip displacement for certain intensities and thicknesses. Finally, using a solar simulator, we also show the visible light response of the film.

Fast-Response Bioinspired Near-Infrared Light-Driven Soft Robot Based on Two-Stage Deformation

Herein, we report a remotely controlled soft robot employing a photoresponsive nanocomposite synthesized from liquid crystal elastomers (LCEs), high elastic form-stable phase change polymer (HEPCP), and multiwalled carbon nanotubes (MWCNTs). Possessing a two-stage deformation upon exposure to near-infrared (NIR) light, the LCE/HEPCP/MWCNT (LHM) nanocomposite allows the soft robot to exhibit an obvious, fast, and reversible shape change with low detection limitations. In addition to the deformation and bending of the LCE molecular chains itself, the HEPCP in the composite material can also be triggered by a reversible solid-liquid transition due to the temperature rise caused by MWCNTs, which further promotes the change of the LCE. In particular, the proposed photodriven LHM soft robot can bend up to 180° in 2 s upon NIR stimulation (320 mW, distance of 5 cm) and generate recoverable, dramatic, and sensitive deformation to execute various tasks including walking, twisting, and bending. With the capacity of imitating biological behaviors through remote control, the disruptive innovation developed here offers a promising path toward miniaturized untethered robotic systems.

Light-Powered Self-Sustained Oscillators of Graphene Oxide/Liquid Crystalline Network Composites Showing Amplitude and Frequency Superposition

Light-activated self-oscillators have drawn enormous attention for their potential applications in mobile machines, energy harvesting, signal modulation, etc. Herein, we report one graphene oxide (GO)/liquid crystalline network (LCN) actuator that presents a unique light-activated oscillation with amplitude and frequency superposition. The GO/LCN composite film is prepared by the one-step polymerization of LC monomers, which favors a splay orientation in LC cells made by gluing together two glass sheets, one coated with photothermal agent GO and the other coated with a rubbed polyimide alignment layer. Owing to the asymmetric contraction/expansion, changing the cutting direction gives rise to notably different actuation behaviors for GO/LCN composite films. Moreover, it twists a little during the deflection process as a result of experimental error during the cutting process, which may cause the strip to be cut inaccurately. When the composite film is embedded in a self-shadowing system, it produces an unconventional hybrid oscillation mode upon near-infrared light irradiation, i.e., bending and twisting oscillation coupled. Furthermore, when the aspect ratio of the film decreases, the twisting mode is suppressed and the actuator changes from a coupled mode to a single bending mode. The proposed strategy may extend the application of GO/LCN composite materials and enrich light-activated self-oscillating behaviors.

Localizable, Identifiable, and Perceptive Untethered Light-Driven Soft Crawling Robot

Soft robots based on bionics have attracted extensive attention in recent years. However, most of previous works focused on the motion of robots that were incapable of communication and perception. In this work, an untethered crawling robot is proposed with integration of motion, communication, and location based entirely on a flexible material, which is capable of being utilized as a sensing platform. The hydrophilic graphene oxide film, capable of photothermal conversion, allows the robot to undergo a large deformation stimulated by near-infrared light. Conductive fabric with low resistivity and high mechanical strength, replacing the traditional rigid circuit, is utilized to complete the communication of the robot. The designed communication module allows an electrical signal to be inductively coupled to the soft robot instead of being generated by batteries or through transmission lines. The perception of the robot is demonstrated by covering sensitive materials. Furthermore, the positioning and identification of the robot are verified by an external coil array. The proposed soft crawling robot provides an innovative strategy for the integration of multifunctional robots and shows great potential in bionic devices, intelligent robots, and advanced sensors.

Bio-Mimetic Actuators of a Photothermal-Responsive Vitrimer Liquid Crystal Elastomer with Robust, Self-Healing, Shape Memory, and Reconfigurable Properties

Soft actuators with apparent uniqueness in exhibiting complex shape morphing are highly desirable for artificial intelligence applications. However, for the majority of soft actuators, in general, it is challenging to achieve versatility, durability, and configurability simultaneously. Enormous works are devoted to meet the multifunctional smart actuators, to little effect. Herein, self-healing and bio-mimetic smart actuators are proposed based on azobenzene chromophores and dynamic disulfide bonds. Benefiting from the dynamic and drivable vitrimer liquid crystal elastomer (V-LCE) materials, a series of actuators with single or compound dynamic three-dimensional structures were fabricated, which were capable of double-stimuli response and complex "bionic" motions, such as the blooming of a flower, grasping and loosening an object, and so forth. Moreover, these flexible actuators showed fascinating properties, such as high robustness, excellent elasticity-plasticity shape-memory properties (R_f and R_r are close to 100%), easily reconfigurable property, and self-healing. This smart V-LCE provides a guideline to design and fabricate soft versatility actuators, which has prospects for developing smart bionic and artificial intelligence devices.

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.

Chinese ink: a programmable, dual-responsive and self-sensing actuator using a healing-assembling method

Actuators have wide applications in soft robotics and bionic devices. Since the healing ability not only makes actuators have longer service lives, but also allows them to be programmable through welding and assembling, it is regarded as an important feature for state-of-the-art actuators. Nevertheless, it remains a great challenge to integrate multi-functional merits, such as multi-responsiveness, programmable shape-morphing, healing and self-sensing function, simultaneously into a monolithic actuating material. Here, we introduce Chinese ink, a carbon-based material used in traditional calligraphy, to develop programmable, dual-responsive and self-sensing actuators by a healing-assembling method. The ink is combined with graphene oxide (GO) to fabricate a double-layer ink/GO actuator, which shows bi-directional bending under near-infrared light or humidity, owing to the mismatch of the volume change between ink and GO films. The maximal bending curvature is up to 5.2 cm^-1. Importantly, the entire ink/GO actuator can be healed with the aid of ink solution. Using the healing-assembling method to fabricate advanced structures including a Mobius ring, triangular rings and square rings, diverse actuating modes and complex 3D deformations such as a wavy shape and saddle shape are realized. This method also enables the construction of an artificial mimosa that shows a biomimetic stimulus-responsive behavior. In addition, the ink/GO actuator shows a self-sensing function, which is attributed to the thermoresistivity of the ink film. This research shows the huge potential of Chinese-ink-based actuators for use in smart materials, providing a new idea for the development of new generation multi-functional actuators.

Magnetoactive Soft Drivers with Radial-Chain Iron Microparticles

Magnetoactive elastomers (MAEs), one kind of typical novel magnetoactive driver applied in the soft robotic area, have become one of the research hotspots as they can provide biologically friendly driving methods with safe, preprogrammed, and easy-to-implement properties. In this study, novel MAEs embedding soft magnetic iron microparticles with radial chains, which can be molded in one piece, achieve 3D deformation, and co-work between multiple MAEs under single homogeneous stimuli, are proposed. Then, two kinds of novel magnetoactive drivers are established based on the proposed MAEs, which can achieve the synchronous pumping behavior of heart and the extension behavior of muscle under applied homogeneous magnetic fields. The experimental data show that (1) for the pumping behavior, the maximum instantaneous flow rate and total pumping volume can reach 200.1 and 52.3 mL/min, respectively, under 120 BPM applied harmonic magnetic field with 0-300 mT amplitude; (2) the muscle extension behavior can achieve a strain of 0.925 without a loading mass and carry a load of 40 times its own weight with a pronounced dynamic movement. It should be emphasized that the behavior of the proposed magnetoactive drivers can be excited by remote homogeneous magnetic fields, and it has great application potential in biomimetic or bioinspired soft driving systems.

Smart Actuators Based on External Stimulus Response

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

Graphene Oxide-Based Stimuli-Responsive Platforms for Biomedical Applications

Graphene is a two-dimensional sp2 hybridized carbon material that has attracted tremendous attention for its stimuli-responsive applications, owing to its high surface area and excellent electrical, optical, thermal, and mechanical properties. The physicochemical properties of graphene can be tuned by surface functionalization. The biomedical field pays special attention to stimuli-responsive materials due to their responsive abilities under different conditions. Stimuli-responsive materials exhibit great potential in changing their behavior upon exposure to external or internal factors, such as pH, light, electric field, magnetic field, and temperature. Graphene-based materials, particularly graphene oxide (GO), have been widely used in stimuli-responsive applications due to their superior biocompatibility compared to other forms of graphene. GO has been commonly utilized in tissue engineering, bioimaging, biosensing, cancer therapy, and drug delivery. GO-based stimuli-responsive platforms for wound healing applications have not yet been fully explored. This review describes the effects of different stimuli-responsive factors, such as pH, light, temperature, and magnetic and electric fields on GO-based materials and their applications. The wound healing applications of GO-based materials is extensively discussed with cancer therapy and drug delivery.

Light-driven bimorph soft actuators: design, fabrication, and properties

Soft robots that can move like living organisms and adapt to their surroundings are currently in the limelight from fundamental studies to technological applications, due to their advances in material flexibility, human-friendly interaction, and biological adaptation that surpass conventional rigid machines. Light-fueled smart actuators based on responsive soft materials are considered to be one of the most promising candidates to promote the field of untethered soft robotics, thereby attracting considerable attention amongst materials scientists and microroboticists to investigate photomechanics, photoswitch, bioinspired design, and actuation realization. In this review, we discuss the recent state-of-the-art advances in light-driven bimorph soft actuators, with the focus on bilayer strategy, i.e., integration between photoactive and passive layers within a single material system. Bilayer structures can endow soft actuators with unprecedented features such as ultrasensitivity, programmability, superior compatibility, robustness, and sophistication in controllability. We begin with an explanation about the working principle of bimorph soft actuators and introduction of a synthesis pathway toward light-responsive materials for soft robotics. Then, photothermal and photochemical bimorph soft actuators are sequentially introduced, with an emphasis on the design strategy, actuation performance, underlying mechanism, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research Frontier.

Photochemically and Photothermally Controllable Liquid Crystalline Network and Soft Walkers

Developing intelligent soft robots capable to perform various responses to different stimulations has been a hot topic in recent years. Liquid crystalline networks (LCNs) have been considered as one of the most promising candidates in the fabrication of soft actuators because of the combination of elasticity of the polymer and anisotropy of the liquid crystals. However, the design and fabrication of advanced LCN materials with outstanding performances and multiple responsivities is highly demanded but still a challenge. In this work, a NIR-UV dual light-responsive LCN actuator was prepared by selectively coating a polydopamine (PDA) layer on an azobenzene-doped LCN film. This actuator presents UV responsivity in the uncoated region because of the photochemical isomerization of azobenzene and NIR sensitivity in the PDA-coated region originated from the striking photothermal effect. Thanks to the reprogrammable PDA coating, this dual-responsive LCN actuator was totally reprogrammable by coating and washing the PDA layer repeatedly. Based on the novel soft actuator, an artificial car that can imitate the switch of the "forward gear" to "neutral gear" of a real car was prepared. In normal mode, the actuator can move forward under NIR irradiation. After UV light excitation, the actuator cannot move under the same NIR irradiation, just like the car with the level in neutral. This novel actuator may provide inspirations for the fabrication of light-driven functional devices and soft actuators.

Programmable and Self-Healing Light-Driven Actuators through Synergetic Use of Water-Shaping and -Welding Methods

Shape programming is critical for the fabrication of a light-driven actuator with complex shape morphing, which demonstrates potential applications in remote-controlled light-driven soft robots. However, it remains a huge challenge to obtain light-driven actuators having advantages of complex shape morphing, self-healing function, and facile fabrication simultaneously. Here, we report a facile strategy to obtain programmable and self-healing light-driven actuators with complex shape morphing. Various initial shapes of actuators can be programmed by synergetic use of water-shaping and -welding methods, which provides unlimited opportunities for fabricating actuators with predesigned shapes and subsequently demonstrating complex shape morphing. A template transfer method is used to prepare a single-layer graphene oxide (GO) film with asymmetric surface structures, which acts as the basic actuator and has the self-healing function based on the hydrophilic property of GO. It shows bending morphing under near-infrared (NIR) light irradiation due to the photothermal effect and asymmetric morphology on the opposite surfaces. Four more types of actuators are programmed from the basic actuator through the water-shaping method, which exhibits bending, unbending, twisting, and untwisting, respectively, under NIR light illumination. In addition, an S-shape actuator and a flower-shape actuator are programmed from the basic actuators through the water-welding method. By simply turning over the S-shape actuator, it can perform a bidirectional crawling motion. Finally, two intricate bionic light-driven actuators (tendril-shape and octopus-shape) are constructed, which are unattainable from conventional fabrication methods of actuators. We believe that this study will unlock a new way to programmable, self-healing, and light-driven soft robots with tunable and complex shape morphing.

Shape-Memory Polymeric Artificial Muscles: Mechanisms, Applications and Challenges

Shape-memory materials are smart materials that can remember an original shape and return to their unique state from a deformed secondary shape in the presence of an appropriate stimulus. This property allows these materials to be used as shape-memory artificial muscles, which form a subclass of artificial muscles. The shape-memory artificial muscles are fabricated from shape-memory polymers (SMPs) by twist insertion, shape fixation via Tm or Tg, or by liquid crystal elastomers (LCEs). The prepared SMP artificial muscles can be used in a wide range of applications, from biomimetic and soft robotics to actuators, because they can be operated without sophisticated linkage design and can achieve complex final shapes. Recently, significant achievements have been made in fabrication, modelling, and manipulation of SMP-based artificial muscles. This paper presents a review of the recent progress in shape-memory polymer-based artificial muscles. Here we focus on the mechanisms of SMPs, applications of SMPs as artificial muscles, and the challenges they face concerning actuation. While shape-memory behavior has been demonstrated in several stimulated environments, our focus is on thermal-, photo-, and electrical-actuated SMP artificial muscles.

Bio-Inspired High Sensitivity of Moisture-Mechanical GO Films with Period-Gradient Structures

Moisture actuators can accomplish humidity-triggered energy-conversion process, through material screening and structural design. Inspired by natural caterpillars and the hydrophilic properties of graphene oxide (GO), this work proposes a geometrical design of period-gradient structures in GO films for fabricating moisture actuators. These novel period-gradient-structured GO films exhibit excellent dynamic performance that they could deform at 1000° with a small radius in several seconds at a high relative humidity (RH ≈ 80%). The properties of fast actuating speed and high response to deformation are achieved through the structural designing of the sole GO film by a one-step formation process. A mechanics-based theoretical model combined with the finite element simulation is presented to demonstrate the actuating mechanism in geometry, moisture, and mechanics, which lays the foundation for potential applications of GO films in remote control, environmental monitoring, and man-machine interactions.