Desynchronized liquid crystalline network actuators with deformation reversal capability

Halogen-Bonded Liquid Crystal Elastomers as Initiator-Free Photochemical Actuators

Photochemically driven liquid crystal elastomer (LCE) actuators require precise arrangement and sufficiently high concentration of photoswitchable molecules for effective actuation. Achieving both high photoswitch content and a high degree of molecular alignment has been challenging especially in thick samples, but is essential for future applications in soft robotics, biomedicine, and photonic technologies. In this work, this issue is addressed by combining dynamic halogen bonds with Aza-Michael addition-based polymerization, creating azobenzene-containing LCEs with multimodal actuation capabilities. These highly directional supramolecular interactions eliminate the need for a photo-initiator in the LCE fabrication process, enabling control over the azobenzene content over a wide range while maintaining a high degree of molecular alignment and dynamic programming ability. The potential of this approach is demonstrated through proof-of-concept examples such as light-guided rolling movement and underwater gripping, underscoring the versatility of the weak, dynamic halogen bonds in advancing the supramolecular design of multimodal soft actuators.

Controlling Self-Oscillation of a Single-Layer Liquid Crystal Elastomer at the Air-Water Interface via Light Programming for Water Strider-Inspired Aquatic Robots

Biomimicking aquatic organisms offers many opportunities for designing intelligent robots that can freely move on water. However, most works were focused on multilayered materials or assembled structures and faced limitations in stability, versatility, and motion navigation. Here, we develop an assembly-free water-strider-like aquatic robot using a single layer of light-programmable liquid-crystal elastomer (LCE) that could be used to create asymmetric structures. The LCE strider mimics both the shape and functions of natural water striders; it is designed with four legs, with the fore and hind legs being programmed respectively via light. Consequently, the LCE strider shows self-oscillation and self-propulsion behaviors on low-grade thermal water with a temperature gradient at the air-water interface, owing to unbalanced changes in the contact areas and tensions between the legs and water. Furthermore, the trajectories of the LCE strider are manipulated by NIR light after selectively depositing polydopamine with photothermal conversion. In this way, path navigation is realized, that is, moving straight and on-demand turning, similar to the movement of natural water striders. This study should inspire the development of soft intelligent robots using shape-morphing materials.

Synergistic Adhesion and Shape Deformation in Nanowire-Structured Liquid Crystal Elastomers

Nature provides many examples of the benefits of nanoscopic surface structures in areas of adhesion and antifouling. Herein, the design, fabrication, and characterization of liquid crystal elastomer (LCE) films are presented with nanowire surface structures that exhibit tunable stimuli-responsive deformations and enhanced adhesion properties. The LCE films are shown to curl toward the side with the nanowires when stimulated by heat or organic solvent vapors. In contrast, when a droplet of the same solvent is placed on the film, it curls away from the nanowire side due to nanowire-induced capillary forces that cause unequal swelling. This characteristic curling deformation is shown to be reversible and can be optimized to match curved substrates, maximizing adhesive shear forces. By using chemical modification, the LCE nanowire films can be given underwater superoleophobicity, enabling oil repellency under a range of harsh conditions. This is combined with the nanowire-induced frictional asymmetry and the reversible shape deformation to create an underwater droplet mixing robot, capable of performing chemical reactions in aqueous environments. These findings demonstrate the potential of nanowire-augmented LCE films for advanced applications in soft robotics, adaptive adhesion, and easy chemical modification, with implications for designing responsive materials that integrate mechanical flexibility with surface functionality.

A Rolling Light-Driven Pneumatic Soft Actuator Based on Liquid-Gas Phase Change

Light-driven wireless actuators provide obvious advantages for remote control. However, traditional double-layer actuators are restricted to the thin film deformation mode when undertaking complex tasks. Here, an actuator is proposed that employs thermal strain and local photothermal effects induced by low boiling point liquids to generate asymmetry along the fiber axis, thereby causing elastic deformation of the fiber. Under continuous irradiation, the sustained elastic deformation results in dynamic frustration within the fiber, creating torque around its axis. Based on this principle, the fiber actuator fabricated in this study enables rolling translation, while the ring actuator achieves simultaneous rolling and lifting motion for object manipulation. Continuous rolling under light eliminates the need for complex light manipulation. This new movement method offers an insight for various application scenarios.

Visible-Light-Driven and Adaptable Liquid-Crystalline Elastomer Actuators Containing Dynamically Exchangeable Boron Ester and Disulfide Linkages

A liquid-crystalline elastomer (LCE) containing dynamically exchangeable disulfide (-S-S-) and boron ester (BE) bonds (LCESS-BE) was successfully prepared. The -S-S- linkages were introduced in the form of a reactive oligomer prepared via a thiol-acrylate Michael addition reaction with bis(2-hydroxyethyl) disulfide acrylate, while the BE linkages were incorporated via the visible-light-induced cross-linking of the oligomer with 4-((allyloxy)methyl)-2-(4-vinylphenyl)-1,3,2-dioxaborolane (AMVD). The monodomain LCESS-BE (MLCESS-BE) with ∼1 wt % AMVD promoted photothermal actuation under blue-light irradiation, resulting in a rise in its temperature of ∼147 °C and a decrease in its length of ∼42%. In addition, LCESS-BE films exhibited reversible reprogrammability through two dynamic exchange reactions (DERs) involving either BE or -S-S- linkages. The BE linkages induced water-assisted healing through a hydration/dehydration DER under ambient conditions via a glue-free method, while the -S-S- linkages exhibited a UV-light-induced DER below the nematic-to-isotropic transition temperature, thus maintaining the nematic order during the DER. This approach represents a promising method for the preparation of MLCEs with light-induced actuation and multifunctionality involving reprogramming, reprocessing, and healing properties.

Programming liquid crystal elastomers for multistep ambidirectional deformability

Ambidirectionality, which is the ability of structural elements to move beyond a reference state in two opposite directions, is common in nature. However, conventional soft materials are typically limited to a single, unidirectional deformation unless complex hybrid constructs are used. We exploited the combination of mesogen self-assembly, polymer chain elasticity, and polymerization-induced stress to design liquid crystalline elastomers that exhibit two mesophases: chevron smectic C (cSmC) and smectic A (SmA). Inducing the cSmC-SmA-isotropic phase transition led to an unusual inversion of the strain field in the microstructure, resulting in opposite deformation modes (e.g., consecutive shrinkage or expansion and right-handed or left-handed twisting and tilting in opposite directions) and high-frequency nonmonotonic oscillations. This ambidirectional movement is scalable and can be used to generate Gaussian transformations at the macroscale.

Self-Repairable Carbon Fiber-Reinforced Epoxy Vitrimer Actuator with Multistimulus Responses and Programmable Morphing

Smart shape-changing structures in aerospace applications are vulnerable to damage in harsh environments. Balancing high mechanical performance with self-repair capabilities poses a challenge due to inherent trade-offs between strength and flexibility. To address this challenge, an asymmetric bilayer-structured actuator was fabricated using commercially available continuous carbon fiber tows (CFs) as the passive layer and a dynamic cross-linked epoxy vitrimer as the active layer. The construction of the vitrimer-CF actuator involves a simple and scalable hot-pressing process, resulting in a tensile strength of 234 MPa and an interfacial bonding strength of 405 N·m-1. This actuator exhibits remarkable deformation capability (210°/7 s) and an efficient self-repair ability under various stimuli, including thermal (60-160 °C), light (0.4-1.0 W·cm-2), electric (2-4 V), and solvent (acetone). By adjustment of the orientation angle of CFs, complex left-handed and right-handed curling structures can be achieved. Leveraging the insights from photothermal/electrothermal actuation mechanisms, a quadruped crawling robot is developed capable of crawling 4 cm with a single light illumination. The actuator can lift objects 45 times its weight when subjected to light stimuli. Additionally, a flap actuator is constructed to achieve an angle change of 63° within 10 s under an electric stimulus, enabling remote control over the aircraft flight angle. These results demonstrate the potential of the vitrimer-CF actuator for advanced applications in intelligent aerospace structures.

A DASA displaying highly efficient and rapid reversible isomerization within sustainable nano/micro capsules: one step closer to sustainability

Donor-acceptor Stenhouse adducts (DASAs), derived from bio-based furfural, demonstrate reversible isomerization when exposed to light and heat, positioning them as attractive candidates for sustainable smart materials. However, achieving efficient and rapid isomerization in high bio-content solid-state matrices, especially under mild conditions, remains a significant hurdle due to restricted molecular mobility and limited matrix options. To address this, we developed a novel solid matrix in the form of sustainable nano/micro capsules, which boast the highest bio-content reported to date (57%). Composed of polymethylmethacrylate (PMMA) and a lauric-stearic acid eutectic mixture (L-SEM), these capsules facilitate highly efficient and rapid reversible isomerization of a third-generation DASA (DASA-1). Remarkably, the system achieves 84% forward and 90% reverse isomerization under mild temperatures, significantly enhancing the material's photo-switching capabilities. This advancement not only addresses the critical challenge of isomerization within high bio-content solid matrices but also opens broader possibilities for the application of bio-based DASAs in environmentally friendly technologies, such as color-rich rewritable papers. By innovating in the design of sustainable smart materials, this work has the potential to extend the utility of DASAs across various scientific fields, contributing to the global shift towards a low-carbon, environmentally sustainable society.

Light-Driven Microrobots for Targeted Drug Delivery

As a new micromanipulation tool with the advantages of small size, flexible movement and easy manipulation, light-driven microrobots have a wide range of prospects in biomedical fields such as drug targeting and cell manipulation. Recently, microrobots have been controlled in various ways, and light field has become a research hotspot by its advantages of noncontact manipulation, precise localization, fast response, and biocompatibility. It utilizes the force or deformation generated by the light field to precisely control the microrobot, and combines with the drug release technology to realize the targeted drug application. Therefore, this paper provides an overview of light-driven microrobots with drug targeting to provide new ideas for the manipulation of microrobots. Here, this paper briefly categorizes the driving mechanisms and materials of light-driven microrobots, which mainly include photothermal, photochemical, and biological. Then, typical designs of light-driven microrobots with different driving mechanisms and control strategies for multiple physical fields are summarized. Finally, the applications of microrobots in the fields of drug targeting and bioimaging are presented as well as the future prospects of light-driven microrobots in the biomedical field are demonstrated.

Photocontrolled Reversible Solid-Fluid Transitions of Azopolymer Nanocomposites for Intelligent Nanomaterials

Intelligent polymer nanocomposites are multicomponent and multifunctional materials that show immense potential across diverse applications. However, to exhibit intelligent traits such as adaptability, reconfigurability and dynamic properties, these materials often require a solvent or heating environment to facilitate the mobility of polymer chains and nanoparticles, rendering their applications in everyday settings impractical. Here intelligent azopolymer nanocomposites that function effectively in a solvent-free, room-temperature environment based on photocontrolled reversible solid-fluid transitions via switching flow temperatures (Tfs) are shown. A range of nanocomposites is synthesized through the grafting of Au nanoparticles, Au nanorods, quantum dots, or superparamagnetic nanoparticles with photoresponsive azopolymers. Leveraging the reversible cis-trans photoisomerization of azo groups, the azopolymer nanocomposites transition between solid (Tf above room temperature) and fluid (Tf below room temperature) states. Such photocontrolled reversible solid-fluid transitions empower the rewriting of nanopatterns, correction of nanoscale defects, reconfiguration of complex multiscale structures, and design of intelligent optical devices. These findings highlight Tf-switchable polymer nanocomposites as promising candidates for the development of intelligent nanomaterials operative in solvent-free, room-temperature conditions.

A Solvent-Templated Porous Liquid Crystal Elastomer with Tactile Sensation beyond Reversible Actuation toward Versatile Artificial Muscles

Liquid crystal elastomers (LCEs), as a classical two-way shape-memory material, are good candidates for developing artificial muscles that mimic the contraction, expansion, or rotational behavior of natural muscles. However, biomimicry is currently focused more on the actuation functions of natural muscles dominated by muscle fibers, whereas the tactile sensing functions that are dominated by neuronal receptors and synapses have not been well captured. Very few studies have reported the sensing concept for LCEs, but the signals were still donated by macroscopic actuation, that is, variations in angle or length. Herein, we develop a conductive porous LCE (CPLCE) using a solvent (dimethyl sulfoxide (DMSO))-templated photo-cross-linking strategy, followed by carbon nanotube (CNT) incorporation. The CPLCE has excellent reversible contraction/elongation behavior in a manner similar to the actuation functions of skeletal muscles. Moreover, the CPLCE shows excellent pressure-sensing performance by providing real-time electrical signals and is capable of microtouch sensing, which is very similar to natural tactile sensing. Furthermore, macroscopic actuation and tactile sensation can be integrated into a single system. Proof-of-concept studies reveal that the CPLCE-based artificial muscle is sensitive to external touch while maintaining its excellent actuation performance. The CPLCE with tactile sensation beyond reversible actuation is expected to benefit the development of versatile artificial muscles and intelligent robots.

Tunable Light-Responsive Polyurethane-urea Elastomer Driven by Photochemical and Photothermal Coupling Mechanism

Light-driven soft actuators based on photoresponsive materials can be used to mimic biological motion, such as hand movements, without involving rigid or bulky electromechanical actuations. However, to our knowledge, no robust photoresponsive material with desireable mechanical and biological properties and relatively simple manufacture exists for robotics and biomedical applications. Herein, we report a new visible-light-responsive thermoplastic elastomer synthesized by introducing photoswitchable moieties (i.e., azobenzene derivatives) into the main chain of poly(ε-caprolactone) based polyurethane urea (PAzo). A PAzo elastomer exhibits controllable light-driven stiffness softening due to its unique nanophase structure in response to light, while possessing excellent hyperelasticity (stretchability of 575.2%, elastic modulus of 17.6 MPa, and strength of 44.0 MPa). A bilayer actuator consisting of PAzo and polyimide films is developed, demonstrating tunable bending modes by varying incident light intensities. Actuation mechanism via photothermal and photochemical coupling effects of a soft-hard nanophase is demonstrated through both experimental and theoretical analyses. We demonstrate an exemplar application of visible-light-controlled soft "fingers" playing a piano on a smartphone. The robustness of the PAzo elastomer and its scalability, in addition to its excellent biocompatibility, opens the door to the development of reproducible light-driven wearable/implantable actuators and lightweight soft robots for clinical applications.

Miniaturized and untethered McKibben muscles based on photothermal-induced gas-liquid transformation

Pneumatic artificial muscles can move continuously under the power support of air pumps, and their flexibility also provides the possibility for applications in complex environments. However, in order to achieve operation in confined spaces, the miniaturization of artificial muscles becomes crucial. Since external attachment devices greatly hinder the miniaturization and use of artificial muscles, we propose a light-driven approach to get rid of these limitations. In this study, we report a miniaturized fiber-reinforced artificial muscle based on mold editing, capable of bending and axial elongation using gas-liquid conversion in visible light. The minimum volume of the artificial muscle prepared using this method was 15.7 mm3 (d = 2 mm, l = 5 mm), which was smaller than those of other fiber-reinforced pneumatic actuators. This research can promote the development of non-tethered pneumatic actuators for rescue and exploration, and create the possibility of miniaturization of actuators.

Liquid Crystal Elastomer Artificial Tendrils with Asymmetric Core-Sheath Structure Showing Evolutionary Biomimetic Locomotion

The sophisticated and complex haptonastic movements in response to environmental-stimuli of living organisms have always fascinated scientists. However, how to fundamentally mimic the sophisticated hierarchical architectures of living organisms to provide the artificial counterparts with similar or even beyond-natural functions based on the underlying mechanism remains a major scientific challenge. Here,  liquid crystal elastomer (LCE) artificial tendrils showing evolutionary biomimetic locomotion are developed following the structure-function principle that is used in nature to grow climbing plants. These elaborately designed tendril-like LCE actuators possess an asymmetric core-sheath architecture which shows a higher-to-lower transition in the degree of LC orientation from the sheath-to-core layer across the semi-ellipse cross-section. Upon heating and cooling, the LCE artificial tendril can undergo reversible tendril-like shape-morphing behaviors, such as helical coiling/winding, and perversion. The fundamental mechanism of the helical shape-morphing of the artificial tendril is revealed by using theoretical models and finite element simulations. Besides, the incorporation of metal-ligand coordination into the LCE network provides the artificial tendril with reconfigurable shape-morphing performances such as helical transitions and rotational deformations. Finally, the abilities of helical and rotational deformations are integrated into a new reprogrammed flagellum-like architecture to perform evolutionary locomotion mimicking the haptonastic movements of the natural flagellum.

Shape-Programmable Liquid-Crystalline Polyurethane-Based Multimode Actuators Triggered by Light-Driven Molecular Motors

In recent years, light-driven soft actuators have been rapidly developed as enablers in the fabrication of artificial robots and biomimetic devices. However, it remains challenging to amplify molecular isomerization to multiple modes of macroscopic actuation with large amplitude and complex motions. Here, a strategy is reported to build a light-responsive liquid-crystalline polyurethane elastomer by phototriggered overcrowded alkene-based molecular motors. A trifunctional molecular motor modified with an ethylene glycol spacer on the rotor and stator functions as a crosslinker and unidirectional stirrer that amplifies molecular motion into macroscopic movement. The shape-programmable polymeric film presents superior mechanical properties and characteristic shape-memory effect. Furthermore, diverse modes of motions including bending, unwinding, and contracting with tunable actuation speed over a wide range are achieved. Such research is hoped to pave a new way for the design of advanced light-responsive soft actuators and robots.

Study of a Multiple Responses, High Deformation, and Programmable PLA-PPC/PVA-PDA Actuator

The intelligent response actuators based on bilayer polymer can deform under the stimulation of temperature, humidity, light, and other external environment, which is the focus of research. However, achieving multiple responses, high deformation, and programmability is still one of the challenges for these actuators. Herein, a nondetachable bilayer structure, polylactic acid-polypropylene carbonate/polyvinyl alcohol-polydopamine (PLA-PPC/PVA-PDA) multiresponse programmable actuator is prepared by a simple scraping film method. Using PLA-PPC as the solvent-driven response layer, the effects of length, thickness, shape, and solvent vapor on the deformation of PLA-PPC/PVA-PDA actuators are studied. Among them, the high curvature of the film stimulated by ethyl acetate (EA) solution is 29.85 cm-1 . Using PVA-PDA as the response layer to water molecules and infrared (IR) light, the bilayer film shows excellent curling performance. Moreover, the dynamic processes of human clothing and biomimetic squid under solvent stimulation, the picture rolling motion under water molecule stimulation, the biomimetic flower blooming and merging under the synergistic of water molecules and IR light, and the deformation process of biomimetic mimosa under the competition between water molecules and IR light are simulated, which broadens the road for the development of intelligent driving materials.

Photothermal Nanomaterials: A Powerful Light-to-Heat Converter

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

Organic‒inorganic semi-interpenetrating networks with orthogonal light- and magnetic-responsiveness for smart photonic gels

Living matter has the ability to perceive multiple stimuli and respond accordingly. However, the integration of multiple stimuli-responsiveness in artificial materials usually causes mutual interference, which makes artificial materials work improperly. Herein, we design composite gels with organic‒inorganic semi-interpenetrating network structures, which are orthogonally responsive to light and magnetic fields. The composite gels are prepared by the co-assembly of a photoswitchable organogelator (Azo-Ch) and superparamagnetic inorganic nanoparticles (Fe₃O₄@SiO₂). Azo-Ch assembles into an organogel network, which shows photoinduced reversible sol-gel transitions. In gel or sol state, Fe₃O₄@SiO₂ nanoparticles reversibly form photonic nanochains via magnetic control. Light and magnetic fields can orthogonally control the composite gel because Azo-Ch and Fe₃O₄@SiO₂ form a unique semi-interpenetrating network, which allows them to work independently. The orthogonal photo- and magnetic-responsiveness enables the fabrication of smart windows, anti-counterfeiting labels, and reconfigurable materials using the composite gel. Our work presents a method to design orthogonally stimuli-responsive materials.

Shape Morphing Directed by Spatially Encoded, Dually Responsive Liquid Crystalline Elastomer Micro-Actuators

Liquid crystalline elastomers (LCEs) with intrinsic molecular anisotropy can be programmed to morph shapes under external stimuli. However, it is difficult to program the position and orientation of individual mesogenic units separately and locally, whether in-plane or out-of-plane, since each mesogen is linked to adjacent ones through the covalently bonded polymer chains. Here, dually responsive, spindle-shaped micro-actuators are synthesized from LCE composites, which can reorient under a magnetic field and change the shape upon heating. When the discrete micro-actuators are embedded in a conventional and nonresponsive elastomer with programmed height distribution and in-plane orientation in local regions, robust and complex shape morphing induced by the cooperative actuations of the locally distributed micro-actuators, which corroborates with finite element analysis, are shown. The spatial encoding of discrete micro-actuators in a nonresponsive matrix allows to decouple the actuators and the matrix, broadening the material palette to program local and global responses to stimuli for applications including soft robotics, smart wearables, and sensors.

Merging the Interfaces of Different Shape-Shifting Polymers Using Hybrid Exchange Reactions

Sophisticated shape-shifting structures and integration of advanced functions often call for different-chemistry-based polymers (such as epoxy and polyurethane) in a unified system. However, permanent cross-links pose crucial obstacles to be seamless. Here, merging interfaces via hybrid exchange reactions among different dynamic covalent bonds (including ester, urethane, thiourethane, boronic-ester, and oxime-ester linkages) is proposed, breaking the long-lasting restriction that these widely used bonds only undergo self-exchange reactions. Model compound studies are conducted to verify that hybrid exchange reactions occur. As demonstrations, different liquid crystal elastomers are tenaciously joined into coherent assemblies, with the desired biomimetic structures (e.g., flying fish containing stiff and flexible parts) and rare deformation modes (e.g., flower blooming upon both heating and cooling). Besides connecting polymers, hybrid exchange reactions also facilitate the creation of new materials through cross-fusion of different polymers. In addition to the polymers used in this work, hybrid exchange reactions can be adapted to other polymers based on similar mechanisms and beyond. Besides shape-shifting-related areas (e.g., soft robots, flexible electronics, and biomedical devices), it may also foster innovation in other fields involving general polymers, as well as promote deeper understanding of dynamic covalent chemistry.

Reconfigurable Fluorescent Liquid Crystal Elastomers for Integrated Visual and Haptic Information Storage

The rapid advancements in information technology require new information storage and display materials. However, the development of on-demand information storage systems with multiple modes remains a significant challenge. As a pioneering approach, this study designed an integrated visual and haptic information storage and display using a reconfigurable fluorescent liquid crystal elastomer (FLCE) with dynamic covalent bonds. The FLCEs were fabricated in two steps of amine-acrylate aza-Michael addition and photopolymerization, and they simultaneously exhibited phototunable fluorescence caused by the reversible Z/E photoisomerization of the chromophores and a reprogrammable shape owing to the catalyst-free transesterification. In addition, we established various information storage and display modes featuring the characteristics of reversibly photoswitchable fluorescence, shape memory, and thermally reconfigurable shape with a reconfigurable FLCE system. Moreover, a strategy to display the information by incorporating both visual and haptic feedback is implemented for fulfilling the needs of the visually impaired and related users. Such reconfigurable FLCE systems will aid in the development of on-demand information storage, display, and protection devices.

Regression analysis for predicting the elasticity of liquid crystal elastomers

It is highly desirable but difficult to understand how microscopic molecular details influence the macroscopic material properties, especially for soft materials with complex molecular architectures. In this study we focus on liquid crystal elastomers (LCEs) and aim at identifying the design variables of their molecular architectures that govern their macroscopic deformations. We apply the regression analysis using machine learning (ML) to a database containing the results of coarse grained molecular dynamics simulations of LCEs with various molecular architectures. The predictive performance of a surrogate model generated by the regression analysis is also tested. The database contains design variables for LCE molecular architectures, system and simulation conditions, and stress-strain curves for each LCE molecular system. Regression analysis is applied using the stress-strain curves as objective variables and the other factors as explanatory variables. The results reveal several descriptors governing the stress-strain curves. To test the predictive performance of the surrogate model, stress-strain curves are predicted for LCE molecular architectures that were not used in the ML scheme. The predicted curves capture the characteristics of the results obtained from molecular dynamics simulations. Therefore, the ML scheme has great potential to accelerate LCE material exploration by detecting the key design variables in the molecular architecture and predicting the LCE deformations.

Electrically driven liquid crystal network actuators

Soft actuators based on liquid crystal networks (LCNs) have aroused great scientific interest for use as stimuli-controlled shape-changing and moving components for robotic devices due to their fast, large, programmable and solvent-free actuation responses. Recently, various LCN actuators have been implemented in soft robotics using stimulus sources such as heat, light, humidity and chemical reactions. Among them, electrically driven LCN actuators allow easy modulation and programming of the input electrical signals (amplitude, phase, and frequency) as well as stimulation throughout the volume, rendering them promising actuators for practical applications. Herein, the progress of electrically driven LCN actuators regarding their construction, actuation mechanisms, actuation performance, actuation programmability and the design strategies for intelligent systems is elucidated. We also discuss new robotic functions and advanced actuation control. Finally, an outlook is provided, highlighting the research challenges faced with this type of actuator.

Electrically Controlled Aquatic Soft Actuators with Desynchronized Actuation and Light-Mediated Reciprocal Locomotion

Soft-bodied aquatic invertebrates can overcome hydrodynamic resistance and display diverse locomotion modes in response to environmental cues. Exploring the dynamics of locomotion from bioinspired aquatic actuators will broaden the perspective of underwater manipulation of artificial systems in fluidic environments. Here, we report a multilayer soft actuator design based on a light-driven hydrogel and a laser-induced graphene (LIG) actuator, minimizing the effect of the time delay by a monolithic hydrogel-based system while maintaining shape-morphing functionality. Moreover, different time scales in the response of actuator materials enable a real-time desynchronization of energy inputs, holding great potential for applications requiring desynchronized stimulation. This hybrid design principle is ultimately demonstrated with a high-performance aquatic soft actuator possessing an underwater walking speed of 0.81 body length per minute at a relatively low power consumption of 3 W. When integrated with an optical sensor, the soft actuator can sense the variation in light intensity and achieve mediated reciprocal motion. Our proposed locomotion mechanism could inspire other multilayer soft actuators to achieve underwater functionalities at the same spatiotemporal scale. The underwater actuation platform could be used to study locomotion kinematics and control mechanisms that mimic the motion of soft-bodied aquatic organisms.

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.

One-Step, Continuous Three-Dimensional Printing of Multi-Stimuli-Responsive Bilayer Microactuators via a Double-Barreled Theta Pipette

Although there has been extensive development and exploration of small-scale robots, the technological challenges associated with their complicated and high-cost fabrication processes remain unresolved. Here, we report a one-step, bi-material, high-resolution three-dimensional (3D) printing method for the fabrication of multi-stimuli-responsive microactuators. This method exploits a two-phase femtoliter ink meniscus formed on a double-barreled theta micropipette to continuously print a freestanding bilayer microstructure, which undergoes an asymmetric volume change upon the adsorption or desorption of water. We show that the 3D-printed bilayer microstructures exhibit reversible, reproducible actuation in ambient humidity or under illumination with infrared light. Our 3D printing approach can assemble bilayer segments for programming microscale actuation, as demonstrated by proof-of-concept experiments. We expect that this method will serve as the basis for flexible, programmable, one-step routes for the assembly of small-scale intelligent actuators.

Reversible Curvature Reversal of Monolithic Liquid Crystal Elastomer Film and Its Smart Valve Application

Beyond a traditional stimuli-responsive soft actuator that shows a single motion by a stimulus, multidirectional actuation reversal with a single stimulus is highly required in applications such as shape morphing sensors and soft robotics. Liquid crystal elastomers (LCEs) are one of the most attractive candidates for the soft actuator due to their capability of stimuli-responsive shape changing in 3D, which is programmable with local orientation of LC mesogens. Here, a simple but effective method to fabricate monolithic LCE actuators that are capable of reversible curvature reversal in bending and twisting deformation by a single stimulus-heat-is reported. The curvature reversal of the LCE film can be programmed by means of asymmetric crosslinking density along the thickness and the orientation of the LC mesogens. The curvature reversal of the monolithic LCE film exhibits highly reversible (more than 100 times) and fast actuation (≈3-5 s) by heating and cooling, allowing new concept of a practical application using LCE material: a self-regulated smart valve that is capable of qualitatively sorting liquids by temperature. It is believed that this system is potentially applied to a self-regulated sorting platform for various endothermic and exothermic chemical or biological reactions.