Recent progress in dynamic covalent chemistries for liquid crystal elastomers

Toward Monodomain Nematic Liquid Crystal Elastomers of Arbitrary Thickness through PET-RAFT Polymerization

Liquid crystal elastomers (LCEs) are polymeric materials that are proposed for a range of applications. However, to reach their full potential, it is desirable to have as much flexibility as possible in terms of the sample dimensions, while maintaining well-defined alignment. In this work, photoinduced electron/energy transfer reversible addition-fragmentation chain transfer (PET-RAFT) polymerization is applied to the synthesis of LCEs for the first time. An initial LCE layer (∼100 μm thickness) is partially cured before a second layer of the precursor mixture is added. The curing reaction is then resumed and is observed by FTIR to complete within 15 min of irradiation, yielding samples of increased thickness. Monodomain samples that exhibit an auxetic response and are of thickness 250-300 μm are consistently achieved. All samples are characterized thermally, mechanically, and in terms of their order parameters. The LCEs have physical properties comparable to those of analogous LCEs produced via free-radical polymerization.

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.

Programmable and Self-Healable Liquid Crystal Elastomer Actuators Based on Halogen Bonding

Shape-changing polymeric materials have gained significant attention in the field of bioinspired soft robotics. However, challenges remain in versatilizing the shape-morphing process to suit different tasks and environments, and in designing systems that combine reversible actuation and self-healing ability. Here, we report halogen-bonded liquid crystal elastomers (LCEs) that can be arbitrarily shape-programmed and that self-heal under mild thermal or photothermal stimulation. We incorporate halogen-bond-donating diiodotetrafluorobenzene molecules as dynamic supramolecular crosslinks into the LCEs and show that these relatively weak crosslinks are pertinent for their mechanical programming and self-healing. Utilizing the halogen-bonded LCEs, we demonstrate proof-of-concept soft robotic motions such as crawling and rolling with programmed velocities. Our results showcase halogen bonding as a promising, yet unexplored tool for the preparation of smart supramolecular constructs for the development of advanced soft actuators.

Recent Advances in 4D Printing of Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are renowned for their large, reversible, and anisotropic shape change in response to various external stimuli due to their lightly cross-linked polymer networks with an oriented mesogen direction, thus showing great potential for applications in robotics, bio-medics, electronics, optics, and energy. To fully take advantage of the anisotropic stimuli-responsive behaviors of LCEs, it is preferable to achieve a locally controlled mesogen alignment into monodomain orientations. In recent years, the application of 4D printing to LCEs opens new doors for simultaneously programming the mesogen alignment and the 3D geometry, offering more opportunities and higher feasibility for the fabrication of 4D-printed LCE objects with desirable stimuli-responsive properties. Here, the state-of-the-art advances in 4D printing of LCEs are reviewed, with emphasis on both the mechanisms and potential applications. First, the fundamental properties of LCEs and the working principles of the representative 4D printing techniques are briefly introduced. Then, the fabrication of LCEs by 4D printing techniques and the advantages over conventional manufacturing methods are demonstrated. Finally, perspectives on the current challenges and potential development trends toward the 4D printing of LCEs are discussed, which may shed light on future research directions in this new field.

Multimaterial Printing of Liquid Crystal Elastomers with Integrated Stretchable Electronics

Liquid crystal elastomers (LCEs) have grown in popularity in recent years as a stimuli-responsive material for soft actuators and shape reconfigurable structures. To make these material systems electrically responsive, they must be integrated with soft conductive materials that match the compliance and deformability of the LCE. This study introduces a design and manufacturing methodology for combining direct ink write (DIW) 3D printing of soft, stretchable conductive inks with DIW-based "4D printing" of LCE to create fully integrated, electrically responsive, shape programmable matter. The conductive ink is composed of a soft thermoplastic elastomer, a liquid metal alloy (eutectic gallium indium, EGaIn), and silver flakes, exhibiting both high stretchability and conductivity (order of 10⁵ S m^-1). Empirical tuning of the LCE printing parameters gives rise to a smooth surface (<10 μm) for patterning the conductive ink with controlled trace dimensions. This multimaterial printing method is used to create shape reconfigurable LCE devices with on-demand circuit patterning that could otherwise not be easily fabricated through traditional means, such as an LCE bending actuator able to blink a Morse code signal and an LCE crawler with an on/off photoresistor controller. In contrast to existing fabrication methodologies, the inclusion of the conductive ink allows for stable power delivery to surface mount devices and Joule heating traces in a highly dynamic LCE system. This digital fabrication approach can be leveraged to push LCE actuators closer to becoming functional devices, such as shape programmable antennas and actuators with integrated sensing.

Fabricating liquid crystal vitrimer actuators far below the normal processing temperature

Liquid crystal vitrimers can be reprocessed, reshaped, welded, and healed due to exchange-reaction-enabled topology changes despite having fully covalently cross-linked network structures. Fabricating liquid crystal (LC) vitrimer actuators is invariably carried out above a characteristic temperature known as the topology freezing transition temperature (T_v). The reason that all exchange-reaction-based operations must be performed above T_v is because the exchange reaction is insignificant below T_v. Here we find that LC vitrimers can be reshaped at temperatures below the measured T_v, whereas non-LC vitrimers cannot. The work here not only makes it possible to create reprogrammable and stable LC vitrimer actuators at low temperatures but also reminds us that both our measurement and understanding of the T_v need further attention to facilitate the use of vitrimers in different areas.

Bio-Inspired Soft-Rigid Hybrid Smart Artificial Muscle Based on Liquid Crystal Elastomer and Helical Metal Wire

Artificial muscles are of significant value in robotic applications. Rigid artificial muscles possess a strong load-bearing capacity, while their deformation is small; soft artificial muscles can be shifted to a large degree; however, their load-bearing capacity is weak. Furthermore, artificial muscles are generally controlled in an open loop due to a lack of deformation-related feedback. Human arms include muscles, bones, and nerves, which ingeniously coordinate the actuation, load-bearing, and sensory systems. Inspired by this, a soft-rigid hybrid smart artificial muscle (SRH-SAM) based on liquid crystal elastomer (LCE) and helical metal wire is proposed. The thermotropic responsiveness of the LCE is adopted for large reversible deformation, and the helical metal wire is used to fulfill high bearing capacity and electric heating function requirements. During actuation, the helical metal wire's resistance changes with the LCE's electrothermal deformation, thereby achieving deformation-sensing characteristics. Based on the proposed SRH-SAM, a reconfigurable blazed grating plane and the effective switch between attachment and detachment in bionic dry adhesion are accomplished. The SRH-SAM opens a new avenue for designing smart artificial muscles and can promote the development of artificial muscle-based devices.

Magnetic-responsive Covalent Adaptable Networks

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

Tuning the Fluorescence in Dynamic Covalent Bonded Liquid Crystals

A series of emissive liquid crystalline materials based on salicylidene derivatives is reported and investigated with respect to their thermoresponsive and mechanochromic properties. Single-crystal analysis and temperature-dependent powder X-ray diffraction measurements allowed us to correlate the intermolecular organization of the mesogens with thermoresponsive changes in the fluorescence behavior. As a proof-of-principle study, we employed the dynamics of the imine bond in transamination reactions for postsynthetic tuning of the fluorescence behavior as a further step toward the development of adaptive materials.

Surface-Enforced Alignment of Reprogrammable Liquid Crystalline Elastomers

Liquid crystalline elastomers (LCEs) are stimuli-responsive materials capable of undergoing large deformations. The thermomechanical response of LCEs is attributable to the coupling of polymer network properties and disruption of order between liquid crystalline mesogens. Complex deformations have been realized in LCEs by either programming the nematic director via surface-enforced alignment or localized mechanical deformation in materials incorporating dynamic covalent chemistries. Here, the preparation of LCEs via thiol-Michael addition reaction is reported that are amenable to surface-enforced alignment. Afforded by the thiol-Michael addition reaction, dynamic covalent bonds are uniquely incorporated in chemistries subject to surface-enforce alignment. Accordingly, LCEs prepared with complex director profiles are able to be programmed and reprogrammed by (re)activating the dynamic covalent chemistry to realize distinctive shape transformations.

Slidable Cross-Linking Effect on Liquid Crystal Elastomers: Enhancement of Toughness, Shape-Memory, and Self-Healing Properties

The network structures of liquid crystal elastomers (LCEs) are crucial to impart rubbery behavior to LCEs and enable reversible actuation. Most LCEs developed to date are covalently linked, implying that the cross-links are fixed at a particular position. Herein, we report a new class of LCEs integrating polyrotaxanes (PRs) as slidable cross-links (PR-LCEs). Interestingly, the incorporation of a low loading (0.3-2.0 wt %) of the PR cross-linkers to the LCE causes a significant impact on various properties of the resulting PR-LCEs due to the pulley effect. The optimum PR loading is determined to be 0.5 wt %, at which point the toughness and damping behavior are maximized. The robust mechanical properties of the PR-LCE offers a superior actuation performance to that of the pristine LCE along with an excellent quadruple shape-memory effect. Furthermore, the incorporation of PR is useful to enhance the efficiency of shape-memory-assisted self-healing when heating above the nematic-isotropic transition.

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.

Advances in 4D printing of liquid crystalline elastomers: materials, techniques, and applications

Liquid crystalline elastomers (LCEs) are polymer networks exhibiting anisotropic liquid crystallinity while maintaining elastomeric properties. Owing to diverse polymeric forms and self-alignment molecular behaviors, LCEs have fascinated state-of-the-art efforts in various disciplines other than the traditional low-molar-mass display market. By patterning order to structures, LCEs demonstrate reversible high-speed and large-scale actuations in response to external stimuli, allowing for close integration with 4D printing and architectures of digital devices, which is scarcely observed in homogeneous soft polymer networks. In this review, we collect recent advances in 4D printing of LCEs, with emphases on synthesis and processing methods that enable microscopic changes in the molecular orientation and hence macroscopic changes in the properties of end-use objects. Promising potentials of printed complexes include fields of soft robotics, optics, and biomedical devices. Within this scope, we elucidate the relationships among external stimuli, tailorable morphologies in mesophases of liquid crystals, and programmable topological configurations of printed parts. Lastly, perspectives and potential challenges facing 4D printing of LCEs are discussed.

Beating of a Spherical Liquid Crystal Elastomer Balloon under Periodic Illumination

Periodic excitation is a relatively simple and common active control mode. Owing to the advantages of direct access to environmental energy and controllability under periodic illumination, it enjoys broad prospects for application in soft robotics and opto-mechanical energy conversion systems. More new oscillating systems need to be excavated to meet the various application requirements. A spherical liquid crystal elastomer (LCE) balloon model driven by periodic illumination is proposed and its periodic beating is studied theoretically. Based on the existing dynamic LCE model and the ideal gas model, the governing equation of motion for the LCE balloon is established. The numerical calculations show that periodic illumination can cause periodic beating of the LCE balloon, and the beating period of the LCE balloon depends on the illumination period. For the maximum steady-state amplitude of the beating, there exists an optimum illumination period and illumination time rate. The optimal illumination period is proved to be equivalent to the natural period of balloon oscillation. The effect of system parameters on beating amplitude are also studied. The amplitude is mainly affected by light intensity, contraction coefficient, amount of gaseous substance, volume of LCE balloon, mass density, external pressure, and damping coefficient, but not the initial velocity. It is expected that the beating LCE balloon will be suitable for the design of light-powered machines including engines, prosthetic blood pumps, aircraft, and swimmers.

Shape Permanence in Diarylethene-Functionalized Liquid-Crystal Elastomers Facilitated by Thiol-Anhydride Dynamic Chemistry

Diarylethene-functionalized liquid-crystalline elastomers (DAE-LCEs) containing thiol-anhydride bonds were prepared and shown to undergo reversible, reprogrammable photoinduced actuation. Upon exposure to UV light, a monodomain DAE-LCE generated 5.5 % strain. This photogenerated strain was demonstrated to be optically reversible over five cycles of alternating UV/Visible light exposure with minimal photochrome fatigue. The incorporation of thiol-anhydride dynamic bonds allowed for retention of actuated states. Further, re-programming of the nematic director was achieved by heating above the temperature for bond exchange to occur (70 °C) yet below the nematic-to-isotropic transition temperature (100 °C) such that order was maintained between mesogens. The observed thermal stability of each of the diarylethene isomers of over 72 h allowed for decoupling of photo-induced processes and polymer network effects, showing that both polymer relaxation and back-isomerization of the diarylethene contributed to LCE relaxation over a period of 12 hours after actuation unless bond exchange occurred.

Recent Progress in Materials Chemistry to Advance Flexible Bioelectronics in Medicine

Designing bioelectronic devices that seamlessly integrate with the human body is a technological pursuit of great importance. Bioelectronic medical devices that reliably and chronically interface with the body can advance neuroscience, health monitoring, diagnostics, and therapeutics. Recent major efforts focus on investigating strategies to fabricate flexible, stretchable, and soft electronic devices, and advances in materials chemistry have emerged as fundamental to the creation of the next generation of bioelectronics. This review summarizes contemporary advances and forthcoming technical challenges related to three principal components of bioelectronic devices: i) substrates and structural materials, ii) barrier and encapsulation materials, and iii) conductive materials. Through notable illustrations from the literature, integration and device fabrication strategies and associated challenges for each material class are highlighted.

Imine-Based Reactive Mesogen and Its Corresponding Exchangeable Liquid Crystal Elastomer

To date, exchangeable liquid crystalline elastomers (xLCEs) have been mainly fabricated by combining conventional LCEs with additional exchangeable functional groups in their networks. While conventional LCEs are frequently made from commercially available aromatic–ester reacting mesogens or from mesogens based on a biphenyl core, such reacting monomers are not optimized to fabricating xLCEs whose bond-exchange reaction is fast and clean cut. Here, we develop a fast synthesis route to produce a new type of reactive mesogen based on an aromatic–imine structure that intrinsically enables a fast and stable bond-exchange reaction in the resulting imine-based xLCE. This new xLCE displays vitrimer plastic-flow behavior, and its bond-exchange activation energy is calculated to be 54 kJ/mol. We also demonstrate that this xLCE is thermally stable to withstand many recycling cycles without visible decay, and its liquid crystallinity is preserved. Finally, we demonstrate the reprogramming and realignment of the mesogen orientation in this xLCE with the realigned xLCE capable of reversible thermal actuation.

Fully Room-Temperature Reprogrammable, Reprocessable, and Photomobile Soft Actuators from a High-Molecular-Weight Main-Chain Azobenzene Crystalline Poly(ester-amide)

Azobenzene (azo) polymer photoactuators with full room-temperature reprogrammability, reprocessability, and photomobility are highly desirable for large-scale applications, but their development remains a daunting challenge. Herein, a strategy is first presented for fabricating such advanced photoactuators from a high-molecular-weight main-chain azo crystalline poly(ester-amide) (PEA) prepared via Michael addition polymerization. This azo PEA can be readily processed into both physically cross-linked, uniaxially oriented fibers and films with high mechanical robustness and reversible photoinduced bending/unbending at room temperature. Importantly, the presence of both amide unit-induced hydrogen bonding and crystalline domains in such films and fibers endows them with dynamic, yet stable cross-linking points, which enable their easy reprogrammability under strain at room temperature into various three-dimensional (3D) shapes (e.g., film helicoid and spiral ribbon, fiber spring) capable of showing completely different shape-dependent photomobile modes. In particular, these reshaped photoactuators can maintain their accurate 3D shapes and highly reversible photoinduced motions even after being kept at 80 °C for 20 days or at 100 °C for 2 days. They can also be reprocessed and recycled from solution at room temperature. Such a multifunctional main-chain azo crystalline PEA can serve as a versatile platform for fabricating various photoactuators with desired 3D shapes and motion modes under mild ambient conditions.

Highly Durable and Tough Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are soft materials that exhibit interesting anisotropic and actuation properties. The emerging applications of thermally actuatable LCEs demand sufficient mechanical durability under various thermomechanical cycles. Although LCEs are tough at room temperature, they become very brittle at high temperature (above their actuation temperature), which can cause unexpected failure. We demonstrate a strategy to improve the high temperature fracture and fatigue properties of LCEs by designing interpenetrating polymer networks using a second polyurethane network. By selecting the appropriate composition of the polyurethane networks, the high temperature fracture and fatigue properties of LCEs were significantly enhanced, while retaining their actuation properties. The strategy from this work will help fabricate LCE-based actuators that are tough and durable at high temperatures and under cyclic loading.

4D Printing of Liquid Crystals: What's Right for Me?

Recent years have seen major advances in the developments of both additive manufacturing concepts and responsive materials. When combined as 4D printing, the process can lead to functional materials and devices for use in health, energy generation, sensing, and soft robots. Among responsive materials, liquid crystals, which can deliver programmed, reversible, rapid responses in both air and underwater, are a prime contender for additive manufacturing, given their ease of use and adaptability to many different applications. In this paper, selected works are compared and analyzed to come to a didactical overview of the liquid crystal-additive manufacturing junction. Reading from front to back gives the reader a comprehensive understanding of the options and challenges in the field, while researchers already experienced in either liquid crystals or additive manufacturing are encouraged to scan through the text to see how they can incorporate additive manufacturing or liquid crystals into their own work. The educational text is closed with proposals for future research in this crossover field.

Mechanochromic, Shape-Programmable and Self-Healable Cholesteric Liquid Crystal Elastomers Enabled by Dynamic Covalent Boronic Ester Bonds

Endowing a cholesteric liquid crystal elastomer (CLCE) exhibiting helicoidal nanostructure with dynamically tailorable functionalities is of paramount significance for its emerging applications in diverse fields such as adaptive optics and soft robotics. Here, a mechanochromic, shape-programmable and self-healable CLCE is judiciously designed and synthesized through integrating dynamic covalent boronic ester bonds into the main-chain CLCE polymer network. The circularly polarized reflection of CLCEs can be reversibly and dynamically tuned across the entire visible spectrum by mechanical stretching. Thanks to the introduction of dynamic boronic ester bonds, the CLCEs were found to show robust reprogrammable and self-healing capabilities. The research disclosed herein can provide new insights into the development of 4D (color and 3D shape) programmable photonic actuators towards bioinspired camouflage, adaptive optical systems, and next-generation intelligent machines.

Liquid Crystals: Versatile Self-Organized Smart Soft Materials

Smart soft materials are envisioned to be the building blocks of the next generation of advanced devices and digitally augmented technologies. In this context, liquid crystals (LCs) owing to their responsive and adaptive attributes could serve as promising smart soft materials. LCs played a critical role in revolutionizing the information display industry in the 20th century. However, in the turn of the 21st century, numerous beyond-display applications of LCs have been demonstrated, which elegantly exploit their controllable stimuli-responsive and adaptive characteristics. For these applications, new LC materials have been rationally designed and developed. In this Review, we present the recent developments in light driven chiral LCs, i.e., cholesteric and blue phases, LC based smart windows that control the entrance of heat and light from outdoor to the interior of buildings and built environments depending on the weather conditions, LC elastomers for bioinspired, biological, and actuator applications, LC based biosensors for detection of proteins, nucleic acids, and viruses, LC based porous membranes for the separation of ions, molecules, and microbes, living LCs, and LCs under macro- and nanoscopic confinement. The Review concludes with a summary and perspectives on the challenges and opportunities for LCs as smart soft materials. This Review is anticipated to stimulate eclectic ideas toward the implementation of the nature's delicate phase of matter in future generations of smart and augmented devices and beyond.

Reprocessable Photodeformable Azobenzene Polymers

Photodeformable azobenzene (azo) polymers are a class of smart polymers that can efficiently convert light energy into mechanical power, holding great promise in various photoactuating applications. They are typically of crosslinked polymer networks with highly oriented azo mesogens embedded inside. Upon exposure to the light of appropriate wavelength, they experience dramatic order parameter change following the configuration change of the azo units. This could result in the generation and accumulation of the gradient microscopic photomechanical force in the crosslinked polymer networks, thus leading to their macroscopic deformation. So far, a great number of photodeformable azo polymers have been developed, including some unoriented ones showing photodeformation based on different mechanisms. Among them, photodeformable azo polymers with dynamic crosslinking networks (and some uncrosslinked ones) have aroused particular interest recently because of their obvious advantages over those with stable chemical crosslinking structures such as high recyclability and reprocessability. In this paper, I provide a detailed overview of the recent progress in such reprocessable photodeformable polymers. In addition, some challenges and perspectives are also presented.

Healable and Rearrangeable Networks of Liquid Crystal Elastomers Enabled by Diselenide Bonds

Based on liquid crystal elastomer (LCE) materials, hierarchically structured soft actuators can meet some requirements for "human-friendly" working mode and execute complex tasks with intelligent adaptation to environmental changes. However, few researchers have paid much attention to the preparation methods of multicomponent/hierarchical LCE actuators. In this communication, we demonstrate the successful integration of an exchangeable diselenide chain extender for the preparation of dynamic LCEs, which could be reprogrammed on heating or under visible light illumination. Moreover, the rearrangeable polydiselenide networks could be applied to develop the self-welding technology toward fabricating hierarchically structured LCE actuators with sophisticated deformability without using any auxiliary reagent (adhesive, tape, catalysts or initiator) during the assembling process.

Covalent Adaptable Liquid Crystal Networks Enabled by Reversible Ring-Opening Cascades of Cyclic Disulfides

The development of covalent adaptable liquid crystal networks (LCNs) enabled by introducing dynamic covalent bonds has endowed liquid crystal actuators with self-healing properties and reversible shape programmability, broadening their applications in diverse soft robotic devices. However, the finite molecular design strategy limits the recyclability and the architectural diversity of these materials. Here, a strategy is first reported for fabricating photoresponsive polydisulfide-based covalent adaptable LCNs by ring-opening polymerization of cyclic dithiolane groups. Based on the disulfide metathesis, the resulting materials are self-healable, reshapable, and reprogrammable. Importantly, the equilibrium between the polymer backbones and the dithiolane-functionalized monomers enables catalytic depolymerization to recycle monomers, which could significantly weaken the disadvantage of subtractive manufacturing of photomechanical devices. This work rooted in chemistry would provide an economical and environmentally friendly strategy for the fabrication of functional soft robotics with excellent programmability and renewability and beyond.

Toward Application of Liquid Crystalline Elastomer for Smart Robotics: State of the Art and Challenges

Liquid crystalline elastomers (LCEs) are lightly crosslinked polymers that combine liquid crystalline order and rubber elasticity. Owing to their unique anisotropic behavior and reversible shape responses to external stimulation (temperature, light, etc.), LCEs have emerged as preferred candidates for actuators, artificial muscles, sensors, smart robots, or other intelligent devices. Herein, we discuss the basic action, control mechanisms, phase transitions, and the structure-property correlation of LCEs; this review provides a comprehensive overview of LCEs for applications in actuators and other smart devices. Furthermore, the synthesis and processing of liquid crystal elastomer are briefly discussed, and the current challenges and future opportunities are prospected. With all recent progress pertaining to material design, sophisticated manipulation, and advanced applications presented, a vision for the application of LCEs in the next generation smart robots or automatic action systems is outlined.

Three-dimensional printing of functionally graded liquid crystal elastomer

As a promising actuating material, liquid crystal elastomer (LCE) has been intensively explored in building diverse active structures and devices. Recently, direct ink writing technique has been developed to print LCE structures with various geometries and actuation behaviors. Despite the advancement in printing LCE, it remains challenging to print three-dimensional (3D) LCE structures with graded properties. Here, we report a facile method to tailor both the actuation behavior and mechanical properties of printed LCE filaments by varying printing parameters. On the basis of the comprehensive processing-structure-property relationship, we propose a simple strategy to print functionally graded LCEs, which greatly increases the design space for creating active morphing structures. We further demonstrate mitigation of stress concentration near the interface between an actuatable LCE tube and a rigid glass plate through gradient printing. The strategy developed here will facilitate potential applications of LCEs in different fields.