Programmable spatial deformation by controllable off-center freestanding 4D printing of continuous fiber reinforced liquid crystal elastomer composites

4D-Printed Adaptive and Programmable Shape-Morphing Batteries

Shape-morphing batteries that can reconfigure their shape to adapt to different tasks are highly desirable for emerging soft electronics in diverse fields. However, it is a challenging task to develop advanced shape-morphing batteries with on-demand programmability and adaptive responsiveness. Here, 4D-printed programmable shape-morphing batteries by sequentially direct-ink-writing of shape-programmable liquid crystal elastomers (LCEs) and in-situ covalent crosslinked flexible zinc-ion microbatteries, where tough covalent bonding is built at the interface, are reported. The resulting shape-morphing batteries exhibit controllable, reversible, and programmable shape-morphing by controlling sophisticated molecular alignment of LCEs, which enables them to adaptively alter configurations to accommodate different functionalities. Importantly, diverse origami batteries with excellent spatiotemporal controllability are demonstrated by precisely designing active hinges to achieve adaptive transformations from folded to deployed configurations. The programmable shape-morphing mechanisms of the batteries are revealed by finite element analyses. As a proof-of-concept illustration, adaptive shape-morphing battery systems capable of interactive communication and controllable sensing are developed through the incorporation of an elaborate all-MXene-printed near-field-communication antenna, which can adaptively tune its deployment configuration according to variations in environmental humidity or dust content. This work brings new insights for the development of next-generation shape-morphing power sources, human-machine interactive electronics, and swarm intelligence.

4D printing of carbon-fiber-reinforced liquid crystal elastomers for self-deployable solar panels

Deployable structures that can be switched from a folded state to a predetermined or desired configuration are of paramount significance for diverse technological applications, which require the development of advanced smart actuation materials with high mechanical strength and programmable shape-morphing ability. Herein, we present a short-carbon-fiber-reinforced liquid crystal elastomer (SCF-LCE) fabricated via 4D printing, which not only demonstrates enhanced tensile strength (13.5 MPa) and high actuation strain (27%) but also exhibits adaptive photoresponsive actuation. During the printing process, mesogens and SCF are oriented along the nozzle's moving direction by the extrusion shear force, enabling the formation of monodomain matrix materials. Importantly, the incorporation of passive layers onto the SCF-LCE enables programmable deformations and self-deployable structures. As a proof-of-the-concept, the SCF-LCE bilayer actuator is integrated with solar panels for a demonstration of self-adaptive solar panel unfolding system. The combination of enhanced mechanical properties and large driving strain in this short-fiber reinforced LCE is an accessible and influential approach to designing and fabricating LCE composites that may find potential applications in space deployable structures, soft robotics, artificial muscles, and beyond.

4D Printing: A Comprehensive Review of Technologies, Materials, Stimuli, Design, and Emerging Applications

4D printing is a groundbreaking technology that seamlessly integrates additive manufacturing with smart materials, enabling the creation of multiscale objects capable of changing shapes and/or functions in a controlled and programmed manner in response to applied energy inputs. Printing technologies, mathematical modeling, responsive materials, stimuli, and structural design constitute the blueprint of 4D printing, all of which have seen rapid advancement in the past decade. These advancements have opened up numerous possibilities for dynamic and adaptive structures, finding potential use in healthcare, textiles, construction, aerospace, robotics, photonics, and electronics. However, current 4D printing primarily focuses on proof-of-concept demonstrations. Further development is necessary to expand the range of accessible materials and address fabrication complexities for widespread adoption. In this paper, we aim to deliver a comprehensive review of the state-of-the-art in 4D printing, probing into shape programming, exploring key aspects of resulting constructs including printing technologies, materials, structural design, morphing mechanisms, and stimuli-responsiveness, and elaborating on prominent applications across various fields. Finally, we discuss perspectives on limitations, challenges, and future developments in the realm of 4D printing. While the potential of this technology is undoubtedly vast, continued research and innovation are essential to unlocking its full capabilities and maximizing its real-world impact.

Strengthening Liquid Crystal Elastomer Muscles

ConspectusLiquid crystal elastomer fibers (LCEFs) are reversible artificial muscles capable of stimuli-responsive functions, making them promising competitors for ideal soft actuators. These remarkable actuation properties depend strongly on their mechanical properties, such as elastic modulus and breaking stress. It is necessary to strengthen the LCEF muscles to meet the demands of advanced applications. However, despite the significant progress in LCEFs, there is currently no such Account systematically summarizing and analyzing the strategies adopted for enhancing their mechanical and actuation properties. The intuitive variations among the different enhancement strategies further call for investigations into how to choose the most suitable ones based on specific situations. In this Account, for the first time, we systematically summarize existing approaches to strengthening LCEF-based artificial muscles, contributing to the development of more robust and smarter fibrous artificial muscles.In the first section, we focus on the latest and most valuable progress on strengthening LCEF-based artificial muscles, highlighting the need for a comprehensive summary of the various approaches utilized. The mechanical properties of LCEFs can be tailored through molecular design, physical interactions, and fiber integration. The adjustment of hard/soft segment features, the introduction of additional microstructures, and the fiber integration provide opportunities to strengthen LCEF-based artificial muscles, which are discussed in the second section. Subsequently, we delve into the impact of various preparation methods on the performance of LCEFs, and LCEFs fabricated by different spinning and alignment techniques exhibited rather different mechanical and actuation properties. This has been adopted to engineer novel, stronger, and tailored fibrous artificial muscles, as described in the third section. Moreover, we show that the incorporation of rigid composite materials via coating and doping has emerged as a powerful strategy to strengthen LCEFs, such as core-shell structures. Such enhancements also introduce multifunctionality for LCE-based artificial muscles that can enrich the fiber structure and actuation mechanism, which are elucidated in the fourth section. Finally, we conclude this Account with a critical analysis of the challenges and prospects of LCE-based artificial muscles, hoping to pave the way for the construction of more powerful fibrous artificial muscles.

Embedded Physical Intelligence in Liquid Crystalline Polymer Actuators and Robots

Responsive materials possess the inherent capacity to autonomously sense and respond to various external stimuli, demonstrating physical intelligence. Among the diverse array of responsive materials, liquid crystalline polymers (LCPs) stand out for their remarkable reversible stimuli-responsive shape-morphing properties and their potential for creating soft robots. While numerous reviews have extensively detailed the progress in developing LCP-based actuators and robots, there exists a need for comprehensive summaries that elucidate the underlying principles governing actuation and how physical intelligence is embedded within these systems. This review provides a comprehensive overview of recent advancements in developing actuators and robots endowed with physical intelligence using LCPs. This review is structured around the stimulus conditions and categorizes the studies involving responsive LCPs based on the fundamental control and stimulation logic and approach. Specifically, three main categories are examined: systems that respond to changing stimuli, those operating under constant stimuli, and those equip with learning and logic control capabilities. Furthermore, the persisting challenges that need to be addressed are outlined and discuss the future avenues of research in this dynamic field.

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.

Control Patterning of Cyanobiphenyl Liquid Crystals for Electricity Applications

Controlling molecular self-assembly from organic solution evaporation is an important strategy for developing many functional materials and systems. In this work, it is demonstrated that 4-octyloxy-4'-cyanobiphenyl (8OCB) liquid crystals can be patterned into well-oriented stripes with very high micrometer-scale precision using a sandwich system through a dewetting method. The preparation temperature, concentration, and surface energy are combined to control the morphology and orientation of 8OCB microstripe arrays assisted by silicon micropillars. Microstripes prepared below the isotropic temperature were uniform, well-ordered, and showed high electricity. In addition, 8OCB molecules have a strong tendency toward antiparallel alignment, nearly standing up on the substrate with long axes parallel to the microstripe. Also, we point out the mechanism for the self-assembly process of 8OCB on the air-liquid and liquid-solid surface.

4D printing of liquid crystal elastomer composites with continuous fiber reinforcement

Multifunctional composites have been continuously developed for a myriad of applications with remarkable adaptability to external stimuli and dynamic responsiveness. This study introduces a 4D printing method for liquid crystal elastomer (LCE) composites with continuous fibers and unveils their multifunctional actuation and exciting mechanical responses. During the printing process, the relative motion between the continuous fiber and LCE resin generates shear force to align mesogens and enable the monodomain state of the matrix materials. The printed composite lamina exhibits reversible folding deformations that are programmable by controlling printing parameters. With the incorporation of fiber reinforcement, the LCE composites not only demonstrate high actuation forces but also improved energy absorption and protection capabilities. Diverse shape-changing configurations of 4D composite structures can be achieved by tuning the printing pathway. Moreover, the incorporation of conductive fibers into the LCE matrix enables electrically induced shape morphing in the printed composites. Overall, this cost-effective 4D printing method is poised to serve as an accessible and influential approach when designing diverse applications of LCE composites, particularly in the realms of soft robotics, wearable electronics, artificial muscles, and beyond.

Wet-Spinning Carbon Nanotube/Shape Memory Polymer Composite Fibers with High Actuation Stress and Predesigned Shape Change

Actuators based on shape memory polymers and composites incorporating nanomaterial additives have been extensively studied; achieving both high output stress and precise shape change by low-cost, scalable methods is a long-term-desired yet challenging task. Here, conventional polymers (polyurea) and carbon nanotube (CNT) fillers are combined to fabricate reinforced composite fibers with exceptional actuation performance, by a wet-spinning method amenable for continuous production. It is found that a thermal-induced shrinkage step could obtain densified strong fibers, and the presence of CNTs effectively promotes the tensile orientation of polymer molecular chains, leading to much improved mechanical properties. Consequently, the CNT/ polyurea composite fibers exhibit stresses as high as 33 MPa within 0.36 s during thermal actuation, and stresses up to 22 MPa upon electrical stimulation enabled by the built-in conductive CNT networks. Utilizing the flexible thin fibers, various shape change behavior are also demonstrated including the conversion between different structures/curvatures, and recovery of predefined simple patterns. This high-performance composite fibers, capable of both thermal and electrical actuation and produced by low-cost materials and fabrication process, may find many potential applications in wearable devices, robotics, and biomedical areas.

Bioinspired Genetic and Chemical Engineering of Protein Hydrogels for Programable Multi-Responsive Actuation

Protein hydrogels with tailored stimuli-responsive features and tunable stiffness have garnered considerable attention due to the growing demand for biomedical soft robotics. However, integrating multiple responsive features toward intelligent yet biocompatible actuators remains challenging. Here, a facile approach that synergistically combines genetic and chemical engineering for the design of protein hydrogel actuators with programmable complex spatial deformation is reported. Genetically engineered silk-elastin-like proteins (SELPs) are encoded with stimuli-responsive motifs and enzymatic crosslinking sites via simulation-guided genetic engineering strategies. Chemical modifications of the recombinant proteins are also used as secondary control points to tailor material properties, responsive features, and anisotropy in SELP hydrogels. As a proof-of-concept example, diazonium coupling chemistry is exploited to incorporate sulfanilic acid groups onto the tyrosine residues in the elastin domains of SELPs to achieve patterned SELP hydrogels. These hydrogels can be programmed to perform various actuations, including controllable bending, buckling, and complex deformation under external stimuli, such as temperature, ionic strength, or pH. With the inspiration of genetic and chemical engineering in natural organisms, this work offers a predictable, tunable, and environmentally sustainable approach for the fabrication of programmed intelligent soft actuators, with implications for a variety of biomedical materials and biorobotics needs.

High Thermal Conductive Liquid Crystal Elastomer Nanofibers

Liquid crystal elastomers (LCEs), consisting of polymer networks and liquid crystal mesogens, show a reversible phase change under thermal stimuli. However, the kinetic performance is limited by the inherently low thermal conductivity of the polymers. Transforming amorphous bulk into a fiber enhances thermal conductivity through the alignment of polymer chains. Challenges are present due to their rigid networks, while cross-links are crucial for deformation. Here, we employ hydrodynamic alignment to orient the LCE domains assisted by controlled in situ cross-linking and to remarkably reduce the diameter to submicrons. We report that the intrinsic thermal conductivity of LCE fibers at room temperature reaches 1.44 ± 0.32 W/m-K with the sub-100 nm diameter close to the upper limit determined in the quasi-1D regime. Combining the outstanding thermal conductivity and thin diameters, we anticipate these fibers to exhibit a rapid response and high force output in thermomechanical systems. The fabrication method is expected to apply to other cross-linked polymers.

Recent Advances in 4D Printing of Advanced Materials and Structures for Functional Applications

4D printing has attracted tremendous worldwide attention during the past decade. This technology enables the shape, property, or functionality of printed structures to change with time in response to diverse external stimuli, making the original static structures alive. The revolutionary 4D-printing technology offers remarkable benefits in controlling geometric and functional reconfiguration, thereby showcasing immense potential across diverse fields, including biomedical engineering, electronics, robotics, and photonics. Here, a comprehensive review of the latest achievements in 4D printing using various types of materials and different additive manufacturing techniques is presented. The state-of-the-art strategies implemented in harnessing various 4D-printed structures are highlighted, which involve materials design, stimuli, functionalities, and applications. The machine learning approach explored for 4D printing is also discussed. Finally, the perspectives on the current challenges and future trends toward further development in 4D printing are summarized.

4D Printing of Shape-Morphing Liquid Crystal Elastomers

In nature, biological systems can sense environmental changes and alter their performance parameters in real time to adapt to environmental changes. Inspired by these, scientists have developed a range of novel shape-morphing materials. Shape-morphing materials are a kind of "intelligent" materials that exhibit responses to external stimuli in a predetermined way and then display a preset function. Liquid crystal elastomer (LCE) is a typical representative example of shape-morphing materials. The emergence of 4D printing technology can effectively simplify the preparation process of shape-morphing LCEs, by changing the printing material compositions and printing conditions, enabling precise control and macroscopic design of the shape-morphing modes. At the same time, the layer-by-layer stacking method can also endow the shape-morphing LCEs with complex, hierarchical orientation structures, which gives researchers a great degree of design freedom. 4D printing has greatly expanded the application scope of shape-morphing LCEs as soft intelligent materials. This review systematically reports the recent progress of 3D/4D printing of shape-morphing LCEs, discusses various 4D printing technologies, synthesis methods and actuation modes of 3D/4D printed LCEs, and summarizes the opportunities and challenges of 3D/4D printing technologies in preparing shape-morphing LCEs.

Fiber Actuators Based on Reversible Thermal Responsive Liquid Crystal Elastomer

Soft actuators inspired by the movement of organisms have attracted extensive attention in the fields of soft robotics, electronic skin, artificial intelligence, and healthcare due to their excellent adaptability and operational safety. Liquid crystal elastomer fiber actuators (LCEFAs) are considered as one of the most promising soft actuators since they can provide reversible linear motion and are easily integrated or woven into complex structures to perform pre-programmed movements such as stretching, rotating, bending, and expanding. The research on LCEFAs mainly focuses on controllable preparation, structural design, and functional applications. This review, for the first time, provides a comprehensive and systematic review of recent advances in this important field by focusing on reversible thermal response LCEFAs. First, the thermal driving mechanism, and direct and indirect heating strategies of LCEFAs are systematically summarized and analyzed. Then, the fabrication methods and functional applications of LCEFAs are summarized and discussed. Finally, the challenges and technical difficulties that may hinder the performance improvement and large-scale production of LCEFAs are proposed, and the development opportunities of LCEFAs are prospected.

Shape programming of liquid crystal elastomers

Liquid crystal elastomers (LCEs) are shape-morphing materials that demonstrate reversible actuation when exposed to external stimuli, such as light or heat. The actuation's complexity depends heavily on the instilled liquid crystal alignment, programmed into the material using various shape-programming processes. As an unavoidable part of LCE synthesis, these also introduce geometrical and output restrictions that dictate the final applicability. Considering LCE's future implementation in real-life applications, it is reasonable to explore these limiting factors. This review offers a brief overview of current shape-programming methods in relation to the challenges of employing LCEs as soft, shape-memory components in future devices.

A wireless fluorescent flexible force sensor based on aggregation-induced emission doped liquid crystal elastomers

Flexible strain sensors have drawn a lot of interest in various applications including human mobility tracking, rehabilitation/personalized health monitoring, and human-machine interaction, but suffer from interference of electromagnetic (EM). To overcome the EM interference, flexible force sensors without sensitive electronic elements have been developed, with drawbacks of bulky modules that hinders their applications in remote measurement with power-free environment. Therefore, it is highly desirable to fabricate a compact wireless flexible force sensor but it is still a challenge. Here, we demonstrate a fluorescent flexible force sensor based on aggregation-induced emission (AIE) doped liquid crystal elastomer (LCE) experimentally. The proposed force sensor film can be used to measure force through the variation of fluorescent intensity induced by the extension or contraction of LCE film, which leads to reduce or increase of the aggregation degree of AIE molecules within. This compact wireless force sensor features lightweight, low-cost, high flexibility, passivity and anti-EM interference, which also enables the naked eye observation. The proposed sensor provides inspiration and a platform for a new concept of non-contact detection, showing application potential in human-friendly interactive electronics and remote-control integration platform.

Soft Fiber/Textile Actuators: From Design Strategies to Diverse Applications

Fiber/textile-based actuators have garnered considerable attention due to their distinctive attributes, encompassing higher degrees of freedom, intriguing deformations, and enhanced adaptability to complex structures. Recent studies highlight the development of advanced fibers and textiles, expanding the application scope of fiber/textile-based actuators across diverse emerging fields. Unlike sheet-like soft actuators, fibers/textiles with intricate structures exhibit versatile movements, such as contraction, coiling, bending, and folding, achieved through adjustable strain and stroke. In this review article, we provide a timely and comprehensive overview of fiber/textile actuators, including structures, fabrication methods, actuation principles, and applications. After discussing the hierarchical structure and deformation of the fiber/textile actuator, we discuss various spinning strategies, detailing the merits and drawbacks of each. Next, we present the actuation principles of fiber/fabric actuators, along with common external stimuli. In addition, we provide a summary of the emerging applications of fiber/textile actuators. Concluding with an assessment of existing challenges and future opportunities, this review aims to provide a valuable perspective on the enticing realm of fiber/textile-based actuators.