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Xu Z, Lu J, Lu D, Li Y, Lei H, Chen B, Li W, Xue B, Cao Y, Wang W. Rapidly damping hydrogels engineered through molecular friction. Nat Commun 2024; 15:4895. [PMID: 38851753 PMCID: PMC11162443 DOI: 10.1038/s41467-024-49239-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/21/2023] [Accepted: 05/29/2024] [Indexed: 06/10/2024] Open
Abstract
Hydrogels capable of swift mechanical energy dissipation hold promise for a range of applications including impact protection, shock absorption, and enhanced damage resistance. Traditional energy absorption in such materials typically relies on viscoelastic mechanisms, involving sacrificial bond breakage, yet often suffers from prolonged recovery times. Here, we introduce a hydrogel designed for friction-based damping. This hydrogel features an internal structure that facilitates the motion of a chain walker within its network, effectively dissipating mechanical stress. The hydrogel network architecture allows for rapid restoration of its damping capacity, often within seconds, ensuring swift material recovery post-deformation. We further demonstrate that this hydrogel can significantly shield encapsulated cells from mechanical trauma under repetitive compression, owing to its proficient energy damping and rapid rebound characteristics. Therefore, this hydrogel has potential for dynamic load applications like artificial muscles and synthetic cartilage, expanding the use of hydrogel dampers in biomechanics and related areas.
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Affiliation(s)
- Zhengyu Xu
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China
- Institute for Brain Sciences, Nanjing University, Nanjing, 210093, China
| | - Jiajun Lu
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China
| | - Di Lu
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Yiran Li
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China
| | - Hai Lei
- School of Physics, Zhejiang University, Hangzhou, 310027, China
| | - Bin Chen
- Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Wenfei Li
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China
- Institute for Brain Sciences, Nanjing University, Nanjing, 210093, China
| | - Bin Xue
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China.
| | - Yi Cao
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China.
- Institute for Brain Sciences, Nanjing University, Nanjing, 210093, China.
- Chemistry and Biomedicine innovation center, Nanjing University, Nanjing, 210093, China.
| | - Wei Wang
- Collaborative Innovation Center of Advanced Microstructures, National Laboratory of Solid State Microstructure, Department of Physics, Nanjing University, Nanjing, 210093, China.
- Institute for Brain Sciences, Nanjing University, Nanjing, 210093, China.
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2
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Wang ZJ, Wang S, Jiang J, Hu Y, Nakajima T, Maeda S, Craig SL, Gong JP. Effect of the Activation Force of Mechanophore on Its Activation Selectivity and Efficiency in Polymer Networks. J Am Chem Soc 2024; 146:13336-13346. [PMID: 38697646 DOI: 10.1021/jacs.4c01879] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/05/2024]
Abstract
In recent decades, more than 100 different mechanophores with a broad range of activation forces have been developed. For various applications of mechanophores in polymer materials, it is crucial to selectively activate the mechanophores with high efficiency, avoiding nonspecific bond scission of the material. In this study, we embedded cyclobutane-based mechanophore cross-linkers (I and II) with varied activation forces (fa) in the first network of the double network hydrogels and quantitively investigated the activation selectivity and efficiency of these mechanophores. Our findings revealed that cross-linker I, with a lower activation force relative to the bonds in the polymer main chain (fa-I/fa-chain = 0.8 nN/3.4 nN), achieved efficient activation with 100% selectivity. Conversely, an increase of the activation force of mechanophore II (fa-II/fa-chain = 2.5 nN/3.4 nN) led to a significant decrease of its activation efficiency, accompanied by a substantial number of nonspecific bond scission events. Furthermore, with the coexistence of two cross-linkers, significantly different activation forces resulted in the almost complete suppression of the higher-force one (i.e., I and III, fa-I/fa-III = 0.8 nN/3.4 nN), while similar activation forces led to simultaneous activations with moderate efficiencies (i.e., I and IV, fa-I/fa-IV = 0.8 nN/1.6 nN). These findings provide insights into the prevention of nonspecific bond rupture during mechanophore activation and enhance our understanding of the damage mechanism within polymer networks when using mechanophores as detectors. Besides, it establishes a principle for combining different mechanophores to design multiple mechanoresponsive functional materials.
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Affiliation(s)
- Zhi Jian Wang
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan
| | - Shu Wang
- Department of Chemistry, Duke University, Durham, North Carolina 27708-0346, United States
| | - Julong Jiang
- Department of Chemistry, Faculty of Science, Hokkaido University, Sapporo 060-8628, Japan
| | - Yixin Hu
- Department of Chemistry, Duke University, Durham, North Carolina 27708-0346, United States
| | - Tasuku Nakajima
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan
- Faculty of Advanced Life Science, Hokkaido University, Sapporo 001-0021, Japan
| | - Satoshi Maeda
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan
- Department of Chemistry, Faculty of Science, Hokkaido University, Sapporo 060-8628, Japan
| | - Stephen L Craig
- Department of Chemistry, Duke University, Durham, North Carolina 27708-0346, United States
| | - Jian Ping Gong
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan
- Faculty of Advanced Life Science, Hokkaido University, Sapporo 001-0021, Japan
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3
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Wang P, Liao Q, Zhang H. Polysaccharide-Based Double-Network Hydrogels: Polysaccharide Effect, Strengthening Mechanisms, and Applications. Biomacromolecules 2023; 24:5479-5510. [PMID: 37718493 DOI: 10.1021/acs.biomac.3c00765] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/19/2023]
Abstract
Polysaccharides are carbohydrate polymers that are major components of plants, animals, and microorganisms, with unique properties. Biological hydrogels are polymeric networks that imbibe and retain large amounts of water and are the major components of living organisms. The mechanical properties of hydrogels are critical for their functionality and applications. Since synthetic polymeric double-network (DN) hydrogels possess unique network structures with high and tunable mechanical properties, many natural functional polysaccharides have attracted increased attention due to their rich and convenient sources, unique chemical structure and chain conformation, inherently desirable cytocompatibility, biodegradability and environmental friendliness, diverse bioactivities, and rheological properties, which rationally make them prominent constituents in designing various strong and tough polysaccharide-based DN hydrogels over the past ten years. This review focuses on the latest developments of polysaccharide-based DN hydrogels to comprehend the relationship among the polysaccharide properties, inner strengthening mechanisms, and applications. The aim of this review is to provide an insightful mechanical interpretation of the design strategy of novel polysaccharide-based DN hydrogels and their applications by introducing the correlation between performance and composition. The mechanical behavior of DN hydrogels and the roles of varieties of marine, microbial, plant, and animal polysaccharides are emphatically explained.
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Affiliation(s)
- Pengguang Wang
- Advanced Rheology Institute, Department of Polymer Science and Engineering, School of Chemistry and Chemical Engineering, Frontiers Science Center for Transformative Molecules, Shanghai Key Laboratory of Electrical Insulation and Thermal Aging, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Qingyu Liao
- Advanced Rheology Institute, Department of Polymer Science and Engineering, School of Chemistry and Chemical Engineering, Frontiers Science Center for Transformative Molecules, Shanghai Key Laboratory of Electrical Insulation and Thermal Aging, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Hongbin Zhang
- Advanced Rheology Institute, Department of Polymer Science and Engineering, School of Chemistry and Chemical Engineering, Frontiers Science Center for Transformative Molecules, Shanghai Key Laboratory of Electrical Insulation and Thermal Aging, Shanghai Jiao Tong University, Shanghai 200240, China
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4
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Zhang J, Yan D, Qi S. Microphase behaviors and shear moduli of double-network gels: The effect of crosslinking constraints and chain uncrossability. J Chem Phys 2023; 158:114906. [PMID: 36948820 DOI: 10.1063/5.0141221] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/03/2023] Open
Abstract
By performing coarse-grained molecular dynamics simulations, we study the effect of crosslinking and chain uncrossability on the microphase behaviors and mechanical properties of the double-network gels. The double-network systems can be viewed as two separate networks interpenetrating each other uniformly, and the crosslinks in each network are generated, forming a regular cubic lattice. The chain uncrossability is confirmed by appropriately choosing the bonded and nonbonded interaction potentials. Our simulations reveal a close relation between the phase and mechanical properties of the double-network systems and their network topological structures. Depending on the lattice size and the solvent affinity, we have observed two different microphases: one is the aggregation of solvophobic beads around the crosslinking points, which leads to locally polymer-rich domains, and the other is the bunching of polymer strands, which thickens the network edges and thus changes the network periodicity. The former is a representation of the interfacial effect, while the latter is determined by the chain uncrossability. The coalescence of network edges is demonstrated to be responsible for the large relative increase in the shear modulus. Compressing and stretching induced phase transitions are observed in the current double-network systems, and the sharp discontinuous change in the stress that appears at the transition point is found to be related to the bunching or debunching of the network edges. The results suggest that the regulation of network edges has a strong influence on the network mechanical properties.
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Affiliation(s)
- Jinrong Zhang
- Department of Physics, Beijing Normal University, Beijing 100875, China
| | - Dadong Yan
- Department of Physics, Beijing Normal University, Beijing 100875, China
| | - Shuanhu Qi
- School of Chemistry, Beihang University, Beijing 100191, China
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Tian J, Yan L, Zhang H, Wang Y, Cai Y, Huang Y, Lu Z, Xia S, Chen Y, Heng Z, Zou H, Liang M. Enhanced flexibility and ablative performance of silicone rubber by constructing an interpenetrating zirconium-containing polysiloxane double network. POLYMER 2023. [DOI: 10.1016/j.polymer.2023.125749] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/11/2023]
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6
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Huang YT, Zhou Y, Yu WW, Liao S, Luo MC. Nonprestretching double-network enabled by physical interaction-induced aggregation. POLYMER 2022. [DOI: 10.1016/j.polymer.2022.125245] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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7
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Wang ZJ, Jiang J, Mu Q, Maeda S, Nakajima T, Gong JP. Azo-Crosslinked Double-Network Hydrogels Enabling Highly Efficient Mechanoradical Generation. J Am Chem Soc 2022; 144:3154-3161. [PMID: 35148089 DOI: 10.1021/jacs.1c12539] [Citation(s) in RCA: 16] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022]
Abstract
Double-network (DN) hydrogels have recently been demonstrated to generate numerous radicals by the homolytic bond scission of the brittle first network under the influence of an external force. The mechanoradicals thus generated can be utilized to trigger polymerization inside the gels, resulting in significant mechanical and functional improvements to the material. Although the concentration of mechanoradicals in DN gels is much higher than that in single-network hydrogels, a further increase in the mechanoradical concentration in DN gels will widen their application. In the present work, we incorporate an azoalkane crosslinker into the first network of DN gels. Compared with the traditional crosslinker N,N'-methylenebis(acrylamide), the azoalkane crosslinker causes a decrease in the yield stress but significantly increases the mechanoradical concentration of DN gels after stretching. In the azoalkane-crosslinked DN gels, the concentration of mechanoradicals can reach a maximum of ∼220 μM, which is 5 times that of the traditional crosslinker. In addition, DN gels with the azoalkane crosslinker show a much higher energy efficiency for mechanoradical generation. Interestingly, DN gels crosslinked by a mixture of azoalkane crosslinker and traditional crosslinker also exhibit excellent radical generation performance. The increase in the mechanoradical concentration accelerates polymerization and can broaden the application range of force-responsive DN gels to biomedical devices and soft robots.
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Affiliation(s)
- Zhi Jian Wang
- Graduate School of Life Science, Hokkaido University, Sapporo 001-0021, Japan
| | - Julong Jiang
- Department of Chemistry, Faculty of Science, Hokkaido University, Sapporo 060-8628, Japan
| | - Qifeng Mu
- Graduate School of Life Science, Hokkaido University, Sapporo 001-0021, Japan
| | - Satoshi Maeda
- Department of Chemistry, Faculty of Science, Hokkaido University, Sapporo 060-8628, Japan.,Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan
| | - Tasuku Nakajima
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan.,Faculty of Advanced Life Science, Hokkaido University, Sapporo 001-0021, Japan
| | - Jian Ping Gong
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, Sapporo 001-0021, Japan.,Faculty of Advanced Life Science, Hokkaido University, Sapporo 001-0021, Japan
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Xu J, Wang X, Ruan H, Zhang X, Zhang Y, Yang Z, Wang Q, Wang T. Recent Advances in High-strength and High-toughness Polyurethanes Based on Supramolecular Interactions. Polym Chem 2022. [DOI: 10.1039/d2py00269h] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
Recent developments in supramolecular chemistry have generated increasing interest in supramolecular polymers and opened a window for the exploitation of various supramolecular polymeric materials and their multifunctional composites. High-performance polyurethanes,...
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Matsuda T, Kawakami R, Nakajima T, Hane Y, Gong JP. Revisiting the Origins of the Fracture Energy of Tough Double-Network Hydrogels with Quantitative Mechanochemical Characterization of the Damage Zone. Macromolecules 2021. [DOI: 10.1021/acs.macromol.1c01214] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
Affiliation(s)
- Takahiro Matsuda
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
| | - Runa Kawakami
- Graduate School of Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
| | - Tasuku Nakajima
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
| | - Yukiko Hane
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
| | - Jian Ping Gong
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
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Tauber J, Rovigatti L, Dussi S, van der Gucht J. Sharing the Load: Stress Redistribution Governs Fracture of Polymer Double Networks. Macromolecules 2021; 54:8563-8574. [PMID: 34602652 PMCID: PMC8482750 DOI: 10.1021/acs.macromol.1c01275] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/14/2021] [Indexed: 11/28/2022]
Abstract
![]()
The stress response
of polymer double networks depends not only
on the properties of the constituent networks but also on the interactions
arising between them. Here, we demonstrate, via coarse-grained simulations,
that both their global stress response and their microscopic fracture
mechanics are governed by load sharing through these internetwork
interactions. By comparing our results with affine predictions, where
stress redistribution is by definition homogeneous, we show that stress
redistribution is highly inhomogeneous. In particular, the affine
prediction overestimates the fraction of broken chains by almost an
order of magnitude. Furthermore, homogeneous stress distribution predicts
a single fracture process, while in our simulations, fracture of sacrificial
chains takes place in two steps governed by load sharing within a
network and between networks, respectively. Our results thus provide
a detailed microscopic picture of how inhomogeneous stress redistribution
after rupture of chains governs the fracture of polymer double networks.
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Affiliation(s)
- Justin Tauber
- Physical Chemistry and Soft Matter, Wageningen University and Research, Stippeneng 4, 6708 WE Wageningen, The Netherlands
| | - Lorenzo Rovigatti
- Dipartimento di Fisica, Sapienza-Università di Roma, Piazzale A. Moro 2, 00185 Roma, Italy
| | - Simone Dussi
- Physical Chemistry and Soft Matter, Wageningen University and Research, Stippeneng 4, 6708 WE Wageningen, The Netherlands.,John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, United States
| | - Jasper van der Gucht
- Physical Chemistry and Soft Matter, Wageningen University and Research, Stippeneng 4, 6708 WE Wageningen, The Netherlands
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Yang H, Wu S, Chen Q. How to Choose a Secondary Interaction to Improve Stretchability of Associative Polymers? Macromolecules 2021. [DOI: 10.1021/acs.macromol.1c01283] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
Affiliation(s)
- Huanhuan Yang
- State Key Laboratory of Polymer Physics and Chemistry, Changchun Institute of Applied Chemistry, Chinese Academy of Sciences, 130022 Changchun, China
- University of Science and Technology of China, 230026 Hefei, China
| | - Shilong Wu
- State Key Laboratory of Polymer Physics and Chemistry, Changchun Institute of Applied Chemistry, Chinese Academy of Sciences, 130022 Changchun, China
| | - Quan Chen
- State Key Laboratory of Polymer Physics and Chemistry, Changchun Institute of Applied Chemistry, Chinese Academy of Sciences, 130022 Changchun, China
- University of Science and Technology of China, 230026 Hefei, China
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Scalet JM, Suekama TC, Jeong J, Gehrke SH. Enhanced Mechanical Properties by Ionomeric Complexation in Interpenetrating Network Hydrogels of Hydrolyzed Poly (N-vinyl Formamide) and Polyacrylamide. Gels 2021; 7:80. [PMID: 34209543 PMCID: PMC8293209 DOI: 10.3390/gels7030080] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/19/2021] [Revised: 06/18/2021] [Accepted: 06/20/2021] [Indexed: 02/02/2023] Open
Abstract
Tough hydrogels were made by hydrolysis of a neutral interpenetrating network (IPN) of poly (N-vinyl formamide) PNVF and polyacrylamide (PAAm) networks to form an IPN of polyvinylamine (PVAm) and poly (acrylic acid) (PAAc) capable of intermolecular ionic complexation. Single network (SN) PAAm and SN PNVF have similar chemical structures, parameters and physical properties. The hypothesis was that starting with neutral IPN networks of isomeric monomers that hydrolyze to comparable extents under similar conditions would lead to formation of networks with minimal phase separation and maximize potential for charge-charge interactions of the networks. Sequential IPNs of both PNVF/PAAm and PAAm/PNVF were synthesized and were optically transparent, an indication of homogeneity at submicron length scales. Both IPNs were hydrolyzed in base to form PVAm/PAAc and PAAc/PVAm IPNs. These underwent ~5-fold or greater decrease in swelling at intermediate pH values (3-6), consistent with the hypothesis of intermolecular charge complexation, and as hypothesized, the globally neutral, charge-complexed gel states showed substantial increases in failure properties upon compression, including an order of magnitude increases in toughness when compared to their unhydrolyzed states or the swollen states at high or low pH values. There was no loss of mechanical performance upon repeated compression over 95% strain.
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Affiliation(s)
| | | | | | - Stevin H. Gehrke
- Department of Chemical and Petroleum Engineering, University of Kansas, Lawrence, KS 66045, USA; (J.M.S.); (T.C.S.); (J.J.)
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Matsuda T, Kawakami R, Nakajima T, Gong JP. Crack Tip Field of a Double-Network Gel: Visualization of Covalent Bond Scission through Mechanoradical Polymerization. Macromolecules 2020. [DOI: 10.1021/acs.macromol.0c01485] [Citation(s) in RCA: 33] [Impact Index Per Article: 8.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Affiliation(s)
- Takahiro Matsuda
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
| | - Runa Kawakami
- Graduate School of Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
| | - Tasuku Nakajima
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
- Soft Matter GI-CoRE, Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
| | - Jian Ping Gong
- Faculty of Advanced Life Science, Hokkaido University, N21W11, Kita-ku, Sapporo 001-0021, Japan
- Soft Matter GI-CoRE, Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
- Institute for Chemical Reaction Design and Discovery (WPI-ICReDD), Hokkaido University, N21W10, Kita-ku, Sapporo 001-0021, Japan
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