Cooperative deformations of periodically patterned hydrogels

Nanocrystal Assemblies: Current Advances and Open Problems

We explore the potential of nanocrystals (a term used equivalently to nanoparticles) as building blocks for nanomaterials, and the current advances and open challenges for fundamental science developments and applications. Nanocrystal assemblies are inherently multiscale, and the generation of revolutionary material properties requires a precise understanding of the relationship between structure and function, the former being determined by classical effects and the latter often by quantum effects. With an emphasis on theory and computation, we discuss challenges that hamper current assembly strategies and to what extent nanocrystal assemblies represent thermodynamic equilibrium or kinetically trapped metastable states. We also examine dynamic effects and optimization of assembly protocols. Finally, we discuss promising material functions and examples of their realization with nanocrystal assemblies.

4D printed hydrogel scaffold with swelling-stiffening properties and programmable deformation for minimally invasive implantation

The power of three-dimensional printing in designing personalized scaffolds with precise dimensions and properties is well-known. However, minimally invasive implantation of complex scaffolds is still challenging. Here, we develop amphiphilic dynamic thermoset polyurethanes catering for multi-material four-dimensional printing to fabricate supportive scaffolds with body temperature-triggered shape memory and water-triggered programmable deformation. Shape memory effect enables the two-dimensional printed pattern to be fixed into temporary one-dimensional shape, facilitating transcatheter delivery. Upon implantation, the body temperature triggers shape recovery of the one-dimensional shape to its original two-dimensional pattern. After swelling, the hydrated pattern undergoes programmable morphing into the desired three-dimensional structure because of swelling mismatch. The structure exhibits unusual soft-to-stiff transition due to the water-driven microphase separation formed between hydrophilic and hydrophobic chain segments. The integration of shape memory, programmable deformability, and swelling-stiffening properties makes the developed dynamic thermoset polyurethanes promising supportive void-filling scaffold materials for minimally invasive implantation.

Phase-transforming mechanical metamaterials with dynamically controllable shape-locking performance

Active mechanical metamaterials with customizable structures and deformations, active reversible deformation, dynamically controllable shape-locking performance and stretchability are highly suitable for applications in soft robotics and flexible electronics, yet it is challenging to integrate them due to their mutual conflicts. Here, we introduce a class of phase-transforming mechanical metamaterials (PMMs) that integrate the above properties. Periodically arranging basic actuating units according to the designed pattern configuration and positional relationship, PMMs can customize complex and diverse structures and deformations. Liquid-vapor phase transformation provides active reversible large deformation while a silicone matrix offers stretchability. The contained carbonyl iron powder endows PMMs with dynamically controllable shape-locking performance, thereby achieving magnetically assisted shape locking and energy storing in different working modes. We build a theoretical model and finite element simulation to guide the design process of PMMs, so as to develop a variety of PMMs with different functions suitable for different applications, such as a programmed PMM, reconfigurable antenna, soft lens, soft mechanical memory, biomimetic hand, biomimetic flytrap and self-contained soft gripper. PMMs are applicable to achieve various 2D deformations and 2D-to-3D deformations, and integrate multiple properties, including customizable structures and deformations, active reversible deformation, rapid reversible shape locking, adjustable energy storing and stretchability, which could open a new application avenue in soft robotics and flexible electronics.

Reconfigurable scaffolds for adaptive tissue regeneration

Tissue engineering and regenerative medicine have offered promising alternatives for clinical treatment of body tissue traumas, losses, dysfunctions, or diseases, where scaffold-based strategies are particularly popular and effective. Over the decades, scaffolds for tissue regeneration have been remarkably evolving. Nevertheless, conventional scaffolds still confront grand challenges in bio-adaptions in terms of both tissue-scaffold and cell-scaffold interplays, for example complying with complicated three-dimensional (3D) shapes of biological tissues and recapitulating the ordered cell regulation effects of native cell microenvironments. Benefiting from the recent advances in "intelligent" biomaterials, reconfigurable scaffolds have been emerging, demonstrating great promise in addressing the bio-adaption challenges through altering their macro-shapes and/or micro-structures. This mini-review article presents a brief overview of the cutting-edge research on reconfigurable scaffolds, summarizing the materials for forming reconfigurable scaffolds and highlighting their applications for adaptive tissue regeneration. Finally, the challenges and prospects of reconfigurable scaffolds are also discussed, shedding light on the bright future of next-generation reconfigurable scaffolds with upgrading adaptability.

A Metal Ion and Thermal-Responsive Bilayer Hydrogel Actuator Achieved by the Asymmetric Osmotic Flow of Water between Two Layers under Stimuli

Shape-morphing hydrogels have drawn great attention due to their wide applications as soft actuators, while asymmetric responsive shape-morphing behavior upon encountering external stimuli is fundamental for the development of hydrogel actuators. Therefore, in this work, bilayer hydrogels were prepared and the shrinkage ratios (LA/LN) of the AAm/AAc layer to the NIPAM layer immersed in different metal ion solutions, leading to bending in different directions, were investigated. The difference in the shrinkage ratio was attributed to the synergistic effect of the osmolarity difference between the inside and outside of the hydrogels and the interaction difference between the ion and hydrogel polymer chains. Additionally, under thermal stimuli, the hydrogel actuator would bend toward the NIPAM layer due to the shrinkage of the hydrogel networks caused by the hydrophilic–hydrophobic phase transition of NIPAM blocks above the LCST. This indicates that metal ion and thermal-responsive shape-morphing hydrogel actuators with good mechanical properties could be used as metal ion or temperature-controllable switches or other smart devices.

Morphing-to-Adhesion Polysaccharide Hydrogel for Adaptive Biointerfaces

Reliable functions of medical implants highly depend on biocompatible, conformal, and stable biointerfaces for seamless biointegration with biological tissues. Though flexible biointerfaces based on synthetic hydrogels have shown promise in optimizing implant biointegration via surgical suturing, physical attachment, or manual preshaping, they still suffer from poor adaptability, such as tissue damage by surgical suturing, low bioactivity, and difficulties in conformal contact and stable fixation, especially for specific tissues of large surface curvatures. Here, we report a bilayer hydrogel-based adaptive biointerface (HAB) made of two polysaccharide derivates, N-hydroxysuccinimide (NHS) ester-activated alginate and chitosan, harnessing dual advantages of their different swelling and active groups. Leveraging on the differential swelling between the two hydrogel layers and covalent linkages with active groups at hydrogel interfaces, HABs can be programmed into sealed tubes with tunable diameters via water-induced compliable shape morphing and instant interfacial adhesion. We further demonstrate that the polysaccharide-based morphing-to-adhesion HAB possesses outstanding bioactivity in directing cellular focal adhesion and intercellular junction, versatile geometrical adaptability to diverse tubular tissues with a wide range of surface curvatures (2.8 × 10²-1.3 × 10³ m^-1), and excellent mechanical stability in high load-/shear-bearing physiological environments (blood flow volume: 85 mm·s^-1). HABs overcome the limitations of existing biointerfaces in terms of poor bioactivity and difficult biointegration with biological tissues of large surface curvatures, holding promise to open new avenues for adaptive biointerfaces and reliable medical implants.

Hydrogel Nanosheets Confined 2D Rhombic Ice: A New Platform Enhancing Chondrogenesis

Nanoconfinement within flexible interfaces is a key step towards exploiting confinement effects in several biological and technological systems wherein flexible 2D materials are frequently utilized but are arduous to prepare. Hitherto unreported, the synthesis of 2D Hydrogel nanosheets (HNS) using a template- and catalyst-free process is developed representing a fertile ground for fundamental structure-property investigations. In due course of time, nucleating folds propagating along the edges trigger co-operative deformations of HNS generating regions of nanoconfinement within trapped water islands. These severely constricting surfaces force water molecules to pack within the nanoscale regime of HNS almost parallel to the surface bringing about phase transition into puckered rhombic ice with AA and AB Bernal stacking pattern, which was mostly restricted to Molecular dynamics (MD) studies so far. Interestingly, under high lateral pressure and spatial inhomogeneity within nanoscale confinement, bilayer rhombic ice structures were formed with an in-plane lattice spacing of 0.31 nm. In this work, a systematic exploration of rhombic ice formation within HNS has been delineated using High-resolution transmission electron microscopy (HRTEM), and its ultrathin morphology was examined using Atomic Force Microscopy (AFM). Scanning Electron Microscopy (SEM) images revealed high porosity while mechanical testing presented young's modulus of 155 kPa with ~84% deformation, whereas contact angle suggested high hydrophilicity. The combinations of nanosheets, porosity, nanoconfinement, hydrophilicity, and mechanical strength, motivated us to explore their application as a scaffold for cartilage regeneration, by inducing chondrogenesis of human Wharton Jelly derived mesenchymal stem cells (hWJ MSCs). HNS promoted the formation of cell aggregates giving higher number of spheroid formation and a marked expression of chondrogenic markers (ColI, ColII, ColX, ACAN and S-100), thereby providing some cues for guiding chondrogenic differentiation.

Programmable Morphing Hydrogels for Soft Actuators and Robots: From Structure Designs to Active Functions

ConspectusNature provides abundant inspiration and elegant paradigms for the development of smart materials that can actuate, morph, and move on demand. One remarkable capacity of living organisms is to adapt their shapes or positions in response to stimuli. Programmed deformations or movements in plant organs are mainly driven by water absorption/dehydration of cells, while versatile motions of mollusks are based on contraction/extension of muscles. Understanding the general principles of these morphing and motion behaviors can give rise to disruptive technologies for soft robotics, flexible electronics, biomedical devices, etc. As one kind of intelligent material, hydrogels with high similarity to soft biotissues and diverse responses to external stimuli are an ideal candidate to construct soft actuators and robots.The objective of this Account is to give an overview of the fundamental principles for controllable deformations and motions of hydrogels, with a focus on the structure designs and responsive functions of the corresponding soft actuators and robots. This field has been rapidly developed in recent years with a growing understanding of working principles in natural organisms and a substantial revolution of manufacturing technologies to devise bioinspired hydrogel systems with desired structures. Diverse morphing hydrogels and soft actuators/robots have been developed on the basis of several pioneering works, ranging from bending and folding deformations of bilayer hydrogels to self-shaping of non-Euclidean hydrogel surfaces, and from thermoactuated bilayer gel "hands" to electrodriven polyelectrolyte gel "worms". These morphing hydrogels have demonstrated active functions and versatile applications in biomedical and engineering fields.In this Account, we discuss recent progress in morphing hydrogels and highlight the design principles and relevant applications. First, we introduce the fundamentals of basic deformation modes, together with generic structure features, actuation strategies, and morphing mechanisms. The advantages of in-plane gradient structures are highlighted for programmable deformations by harnessing the out-of-plane buckling with bistability nature to obtain sophisticated three-dimensional configurations. Next, we give an overview of soft actuators and robots based on morphing hydrogels and focus on the working principles of the active systems with different structure designs. We discuss the advancements of hydrogel-based soft robots capable of swift locomotion with different gaits and emphasize the significances of structure control and dynamic actuation. Then we summarize versatile applications of hydrogel-based actuators and robots in biomedicines, cargo delivery, soft electronics, information encryption, and so forth. Some hydrogel robots with a built-in feedback loop and self-sensing system exhibit collaborative functions and advanced intelligence that are informative for the design of next-generation hydrogel machines. Finally, concluding remarks are given to discuss future opportunities and remaining challenges in this field. For example, miniature hydrogel-based actuators/robots with therapeutic or diagnostic functions are highly desired for biomedical applications. The morphing mechanisms summarized in this Account should be applicable to other responsive materials. We hope that this Account will inspire more scientists to be involved in this emerging area and make contributions to reveal novel working principles, design multifunctional soft machines, and explore applications in diverse fields.

Hydrogels: Properties and Applications in Biomedicine

Hydrogels are crosslinked polymer chains with three-dimensional (3D) network structures, which can absorb relatively large amounts of fluid. Because of the high water content, soft structure, and porosity of hydrogels, they closely resemble living tissues. Research in recent years shows that hydrogels have been applied in various fields, such as agriculture, biomaterials, the food industry, drug delivery, tissue engineering, and regenerative medicine. Along with the underlying technology improvements of hydrogel development, hydrogels can be expected to be applied in more fields. Although not all hydrogels have good biodegradability and biocompatibility, such as synthetic hydrogels (polyvinyl alcohol, polyacrylamide, polyethylene glycol hydrogels, etc.), their biodegradability and biocompatibility can be adjusted by modification of their functional group or incorporation of natural polymers. Hence, scientists are still interested in the biomedical applications of hydrogels due to their creative adjustability for different uses. In this review, we first introduce the basic information of hydrogels, such as structure, classification, and synthesis. Then, we further describe the recent applications of hydrogels in 3D cell cultures, drug delivery, wound dressing, and tissue engineering.

Programmable Self-Regulation with Wrinkled Hydrogels and Plasmonic Nanoparticle Lattices

This paper describes a self-regulating system that combines wrinkle-patterned hydrogels with plasmonic nanoparticle (NP) lattices. In the feedback loop, the wrinkle patterns flatten in response to moisture, which then allows light to reach the NP lattice on the bottom layer. Upon light absorption, the NP lattice produces a photothermal effect that dries the hydrogel, and the system then returns to the initial wrinkled configuration. The timescale of this regulatory cycle can be programmed by tuning the degree of photothermal heating by NP size and substrate material. Time-dependent finite element analysis reveals the thermal and mechanical mechanisms of wrinkle formation. This self-regulating system couples morphological, optical, and thermo-mechanical properties of different materials components and offers promising design principles for future smart systems.

Recent Progress in Active Mechanical Metamaterials and Construction Principles

Active mechanical metamaterials (AMMs) (or smart mechanical metamaterials) that combine the configurations of mechanical metamaterials and the active control of stimuli-responsive materials have been widely investigated in recent decades. The elaborate artificial microstructures of mechanical metamaterials and the stimulus response characteristics of smart materials both contribute to AMMs, making them achieve excellent properties beyond the conventional metamaterials. The micro and macro structures of the AMMs are designed based on structural construction principles such as, phase transition, strain mismatch, and mechanical instability. Considering the controllability and efficiency of the stimuli-responsive materials, physical fields such as, the temperature, chemicals, light, electric current, magnetic field, and pressure have been adopted as the external stimuli in practice. In this paper, the frontier works and the latest progress in AMMs from the aspects of the mechanics and materials are reviewed. The functions and engineering applications of the AMMs are also discussed. Finally, existing issues and future perspectives in this field are briefly described. This review is expected to provide the basis and inspiration for the follow-up research on AMMs.

Patterned Electrode Assisted One-Step Fabrication of Biomimetic Morphing Hydrogels with Sophisticated Anisotropic Structures

Anisotropic structures are ubiquitous in nature, affording fascinating morphing behaviors. Biomimetic morphing materials can be developed by spatially controlling the orientations of molecules or nanofillers that produce anisotropic responses and internal stresses under external stimuli. However, it remains a serious challenge to fabricate materials with sophisticated anisotropic architectures. Here, a facile strategy to fabricate morphing hydrogels with elaborately ordered structures of nanosheets, which are oriented under distributed electric field and immobilized by polymerization to form a poly(N-isopropylacrylamide) matrix, is proposed. Diverse sophisticated anisotropic structures are obtained by engineering the electric field through the patterns and relative locations of the electrodes. Upon heating, the monolithic hydrogels with through-thickness and/or in-plane gradients in orientation of the nanosheets deform into various three-dimensional configurations. After incorporating gold nanoparticles, the hydrogels become photoresponsive and capable of programmable motions, for example, dynamic twisting and flipping under spatiotemporal stimuli. Such a strategy of using patterned electrodes to generate distributed electric field should be applicable to systems of liquid crystals or charged particles/molecules to direct orientation or electrophoresis and form functional structures. The biomimetically architectured hydrogels would be ideal materials to develop artificial muscles, soft actuators/robots, and biomedical devices with versatile applications.

Digital printing of shape-morphing natural materials

We demonstrate how programmable shape evolution and deformation can be induced in plant-based natural materials through standard digital printing technologies. With nonallergenic pollen paper as the substrate material, we show how specific geometrical features and architectures can be custom designed through digital printing of patterns to modulate hygrophobicity, geometry, and complex shapes. These autonomously hygromorphing configurations can be "frozen" by postprocessing coatings to meet the needs of a wide spectrum of uses and applications. Through computational simulations involving the finite element method and accompanying experiments, we develop quantitative insights and a general framework for creating complex shapes in eco-friendly natural materials with potential sustainable applications for scalable manufacturing.

Biomimetic Microstructured Hydrogels with Thermal-Triggered Switchable Underwater Adhesion and Stable Antiswelling Property

The design of hydrogels with switchable adhesion and stable antiswelling property in a wet environment has remained a challenge. Here, we report a biomimetic hydrogel that can adhere and detach on-demand on various material surfaces, which is realized by thermal-triggered switchable shape transformation on hexagonal micropillar patterned hydrogels. The hydrogels are cross-linked by two cross-linkers of poly(ethylene glycol) dimethacrylate and 2-ureidoethyl methacrylate, which guarantee the strong mechanical property and stable antiswelling property in a wet environment. The hydrogels can maintain stable water content in solutions with variable pH, temperature, and salt concentration, and the change in volume does not exceed 2%. In addition, due to the dynamical hydrogen bonds and dipole-dipole interaction in the hydrogels, the hydrogels exhibit a thermal-triggered shape-memory effect. The hydrogel can recover shape more than 80% in 15 s. Furthermore, inspired by the surface structure of tree-frog footpads, the hexagonal micropillar patterned hydrogels exhibit improved underwater adhesion strength. The underwater adhesion strength of hexagonal micropillar patterned hydrogels is seven times more than that of flat hydrogels. Based on the shape-memory effect of hydrogels, the adhesion strength can be altered by a thermal stimulus. The adhesion strength of the microstructures recovered from the hydrogel surface decreased to 15.4% of the initial adhesion strength. The switchable underwater adhesion of hydrogels can be applied in the fields of transfer printing, medical adhesives, mobile robots, etc.

Promotion of Color-Changing Luminescent Hydrogels from Thermo to Electrical Responsiveness toward Biomimetic Skin Applications

The active color-changing ability of many living species has inspired scientists to replicate the optical property into soft wet and tissue-like hydrogel materials. However, the color-changing processes of most reported examples are controlled by the traditional stimuli (e.g., pH, temperature, and ions), which may suffer from the residual chemical product accumulation, and have difficulty in achieving local control and integration into the commercial robots, especially when applied as biomimetic skins. Herein, inspired by the nervous (bioelectricity) control of skin color change in cephalopods, we present an electrically powered multicolor fluorescent hydrogel system with asymmetric configuration that couples thermoresponsive fluorescent hydrogel with stacked graphene assembly (SGA)-based conductive paper through luminous paint as the middle layer. Owing to the highly controllable electrical stimulus in terms of amplitude and duration, the Joule heat supplied by SGA film can be regulated locally and in real time, leading to precise and local emission color control at low voltage. It also avoids the addition of any chemicals. Furthermore, the electrically powered color-changing hydrogel system can be conveniently integrated into the commercial robots as biomimetic skins that help them achieve desirable camouflage, display, or alarming functions.

PEG-Induced Controllable Thin-Thickness Gradient and Water Retention: A Simple Way to Programme Deformation of Hydrogel Actuators

Building the differential growth through the thickness is a promising and challenging approach to design the morphing structures of hydrogel actuators. Besides retaining the size of the hydrogel actuators under environmental stimuli still remains a big challenge. Herein, a facile and universal approach is developed to address both issues by introducing PEG during the polymerization of N-isopropylacrylamide (NIPAm) via one step method using asymmetric mold. Both composition gradient and pore gradient are obtained in micro level along the thickness direction of the final hydrogel, while thin-thickness gradient in macro level. The thickness gradient and water retention can be controllably adjusted by changing PEG concentration. The introduction of PEG effectively improves both responsive and non-shrunken performance by the interaction with PNIPAm. The resultant anisotropic PNIPAm/PEG hydrogel respond quickly and reach maximum deformation (360°) within 10 s at low temperature (40 °C). The various 3D shape and biomimetic movement can be programmed by simply controlling the PEG concentration and mold shape. This strategy can provide new insights into the design intelligent soft materials with 3D morphing for bioinspired and biomedical applications.

Cell-Laden Multiple-Step and Reversible 4D Hydrogel Actuators to Mimic Dynamic Tissue Morphogenesis

Shape-morphing hydrogels bear promising prospects as soft actuators and for robotics. However, they are mostly restricted to applications in the abiotic domain due to the harsh physicochemical conditions typically necessary to induce shape morphing. Here, multilayer hydrogel actuator systems are developed using biocompatible and photocrosslinkable oxidized, methacrylated alginate and methacrylated gelatin that permit encapsulation and maintenance of living cells within the hydrogel actuators and implement programmed and controlled actuations with multiple shape changes. The hydrogel actuators encapsulating cells enable defined self-folding and/or user-regulated, on-demand-folding into specific 3D architectures under physiological conditions, with the capability to partially bioemulate complex developmental processes such as branching morphogenesis. The hydrogel actuator systems can be utilized as novel platforms for investigating the effect of programmed multiple-step and reversible shape morphing on cellular behaviors in 3D extracellular matrix and the role of recapitulating developmental and healing morphogenic processes on promoting new complex tissue formation.

A Wetting-Enabled-Transfer (WET) Strategy for Precise Surface Patterning of Organohydrogels

The ability to manipulate water and oil phases in a designable manner is of great significance in widespread fields from art paintings to materials science. However, achieving precise and stable surface patterns for two immiscible phases of water and oil remains a challenge. Herein, a general wetting-enabled-transfer (WET) strategy is reported to construct discretionary shape-defined surface patterns of organohydrogels along with their monolithic formation either from flat to curved surfaces or from the microscale to the macroscale. Locally differentiated wettability induces hydrophilic monomers and hydrophobic monomers from an emulsion system onto the wettability-matching regions of the prepatterned substrates, subsequently forming corresponding hydrogel and organogel patterns on the organohydrogel surface after in situ photopolymerization. The precision of the surface patterns can be controlled by optimizing the gel monomers, emulsion droplet size, and surface chemical composition of the prepatterned substrates. This finding may provide a feasible strategy for precisely patterning functional materials from two-immiscible-phase systems.

Recent progress in the shape deformation of polymeric hydrogels from memory to actuation

Shape deformation hydrogels, which are one of the most promising and essential classes of stimuli-responsive polymers, could provide large-scale and reversible deformation under external stimuli. Due to their wet and soft properties, shape deformation hydrogels are anticipated to be a candidate for the exploration of biomimetic materials, and have shown various potential applications in many fields. Here, an overview of the mechanisms of shape deformation hydrogels and methods for their preparation is presented. Some innovative and efficient strategies to fabricate programmable deformation hydrogels are then introduced. Moreover, successful explorations of their potential applications, including information encryption, soft robots and bionomic systems, are discussed. Finally, remaining great challenges including the achievement of multiple stable deformation states and the combination of shape deformation and sensing are highlighted.

Tough Interfacial Adhesion of Bilayer Hydrogels with Integrated Shape Memory and Elastic Properties for Controlled Shape Deformation

The weak adhesion between two hydrogel layers may lead to the delamination of bilayer hydrogels or low force transfer efficiency during deformation. Here, tough interfacial adhesive bilayer hydrogels with rapid shape deformation and recovery were prepared by simple attachment-heating of two gel layers. The bilayer hydrogels, composed of a shape memory gel (S-gel) and an elastic gel (E-gel), exhibited extremely tough interfacial adhesion between two layers (Γ ∼ 2200 J/m²). The shape deformation and shape recovery of the bilayer hydrogels, tuned by "heating-stretching" mode and "stretching-heating-stretching" mode, were rapid (<5 s) and no delamination between two gel layers was detected during shape deformation. Based on the fast shape deformation and recovery, the bilayer hydrogels could mimic the flower and hand, and a gel gripper could be fabricated to catch the object in the hot water. This work provides a simple method to prepare tough adhesive bilayer hydrogels with controlled shape deformation.

Recent progress on hydrogel actuators

This review outlines progress in hydrogels with well-defined heterogeneity in structures and responsiveness by using sequential synthesis, photolithography, 3D/4D printing, and macroscopic assembling for programmable shape morphing or actuations.

Glycolipid-Based Oleogels and Organogels: Promising Nanostructured Structuring Agents

Over the past few decades, the scientific community is actively involved in the development of edible structuring agents suitable for food, cosmetics, agricultural, pharmaceutical, and biotechnology applications. In particular, edible oil structuring using simple amphiphiles would be the best alternative for the currently used trans and saturated fatty acids, which cause deleterious health effects and cardiovascular problems. In this report, we have made an attempt to address the aforementioned consequences, by synthesizing a new class of structuring agents by a judicious combination of δ-gluconolactone and ricinoleic acid, compounds classified as GRAS, using simple steps in good yield. To our delight, the synthesized glycolipids self-assemble in a wide variety of vegetable oils and commercially viable glycerol, ethylene glycol, and polyethylene glycol via various intermolecular interactions to form a gel. The morphology of molecular gels was investigated by optical microscopy and FESEM analysis, which reveal the existence of a tubular architecture with a diameter ranging from 75 to 150 nm. Rheological studies disclosed the viscoelastic nature, thermal processability, and thixotropic behavior of both oleogels and organogels. Altogether, self-assembled oleogel and organogel reported in this paper would potentially be used in food, agricultural, cosmetics, pharmaceutical, and biotechnological applications.

Shape-adaptable biodevices for wearable and implantable applications

Emerging wearable and implantable biodevices have been significantly revolutionizing the diagnosis and treatment of disease. However, the geometrical mismatch between tissues and biodevices remains a great challenge for achieving optimal performances and functionalities for biodevices. Shape-adaptable biodevices enabling active compliance with human body tissues offer promising opportunities for addressing the challenge through programming their geometries on demand. This article reviews the design principles and control strategies for shape-adaptable biodevices with programmable shapes and actively compliant capabilities, which have offered innovative diagnostic/therapeutic tools and facilitated a variety of wearable and implantable applications. The state-of-the-art progress in applications of shape-adaptable biodevices in the fields of smart textiles, wound care, healthcare monitoring, drug and cell delivery, tissue repair and regeneration, nerve stimulation and recording, and biopsy and surgery, is highlighted. Despite the remarkable advances already made, shape-adaptable biodevices still confront many challenges on the road toward the clinic, such as enhanced intelligence for actively sensing and operating in response to physiological environments. Next-generation paradigms will shed light on future directions for extending the breadth and performance of shape-adaptable biodevices for wearable and implantable applications.

Shape memory effect and rapid reversible actuation of nanocomposite hydrogels with electrochemically controlled local metal ion coordination and crosslinking

Rapid and reversible actuation and shape memory effects are critical for biomimetic soft actuators based on polymer hydrogels. However, most conventional hydrogel actuators show very slow actuation or deformation rates in water. It remains a challenge to realize rapid actuations, particularly for hydrogels to actuate in air. Here, a novel strategy to create diverse hydrogel devices with shape memory effects and rapid reversible actuations even in air was demonstrated. This strategy relies on a precise definition of local crosslinking by using multivalent metal ion coordination. This is demonstrated by infiltrating Fe3+ ions into stretchable nanocomposite polyacrylamide hydrogels with the amide groups converted into primary amine groups for multivalent coordination and crosslinking. The Fe3+ coordination with amine groups enhanced the crosslink density and modulus, leading to deswelling. By using an iron rod electrode, the Fe3+ coordination and crosslinking were precisely controlled to generate hydrogels with heterogeneous local crosslinking, including Janus hydrogels, S-shaped hydrogels, and cross-shaped hydrogel grippers. These soft devices were reversibly actuated in tens of seconds when cyclically dehydrated in ethanol and rehydrated in water. Most interestingly, very rapid reversible actuations of a hydrogel device in air were demonstrated by using electro-redox reaction of Fe3+ and Fe2+ in the hydrogel, where the reversible local coordination crosslinking and decomposition served as a hinge to actuate the hydrogel. This strategy based on reversible local coordination and crosslinking may open an avenue for rapid fabrication of hydrogel devices with well-defined structures and actuation properties.

Distributed Electric Field Induces Orientations of Nanosheets to Prepare Hydrogels with Elaborate Ordered Structures and Programmed Deformations

Living organisms use musculatures with spatially distributed anisotropic structures to actuate deformations and locomotion with fascinating functions. Replicating such structural features in artificial materials is of great significance yet remains a big challenge. Here, a facile strategy is reported to fabricate hydrogels with elaborate ordered structures of nanosheets (NSs) oriented under a distributed electric field. Multiple electrodes are distributed with various arrangements in the precursor solution containing NSs and gold nanoparticles. A complex electric field induces sophisticated orientations of the NSs that are permanently inscribed by subsequent photo-polymerization. The resultant anisotropic nanocomposite poly(N-isopropylacrylamide) hydrogels exhibit rapid deformation upon heating or photoirradiation, owing to the fast switching of permittivity of the media and electric repulsion between the NSs. The complex alignments of NSs and anisotropic shape change of discrete regions result in programmed deformation of the hydrogels into various configurations. Furthermore, locomotion is realized by a spatiotemporal light stimulation that locally triggers time-variant shape change of the composite hydrogel with complex anisotropic structures. Such a strategy on the basis of the distributed electric-field-generated ordered structures should be applicable to gels, elastomers, and thermosets loaded with other anisotropic particles or liquid crystals, for the design of biomimetic/bioinspired materials with specific functionalities.

Buckling and metastability in membranes with dilation arrays

We study periodic arrays of impurities that create localized regions of expansion, embedded in two-dimensional crystalline membranes. These arrays provide a simple elastic model of shape memory. As the size of each dilational impurity increases (or the relative cost of bending to stretching decreases), it becomes energetically favorable for each of the M impurities to buckle up or down into the third dimension, thus allowing for of order 2^{M} metastable surface configurations corresponding to different impurity "spin" configurations. With both discrete simulations and the nonlinear continuum theory of elastic plates, we explore the buckling of both isolated dilations and dilation arrays at zero temperature, guided by analogies with Ising antiferromagnets. We conjecture ground states for systems with triangular and square impurity superlattices, and comment briefly on the possible behaviors at finite temperatures.

Buckling-induced interaction between circular inclusions in an infinite thin plate

Design of slender artificial materials and morphogenesis of thin biological tissues typically involve stimulation of isolated regions (inclusions) in the growing body. These inclusions apply internal stresses on their surrounding areas that are ultimately relaxed by out-of-plane deformation (buckling). We utilize the Föppl-von Kármán model to analyze the interaction between two circular inclusions in an infinite plate that their centers are separated a distance of 2ℓ. In particular, we investigate a region in phase space where buckling occurs at a narrow transition layer of length ℓ_{D} around the radius of the inclusion, R (ℓ_{D}≪R). We show that the latter length scale defines two regions within the system, the close separation region, ℓ-R∼ℓ_{D}, where the transition layers of the two inclusions approximately coalesce, and the far separation region, ℓ-R≫ℓ_{D}. While the interaction energy decays exponentially in the latter region, E_{int}∝e^{-(ℓ-R)/ℓ_{D}}, it presents nonmonotonic behavior in the former region. While this exponential decay is predicted by our analytical analysis and agrees with the numerical observations, the close separation region is treated only numerically. In particular, we utilize the numerical investigation to explore two different scenarios within the final configuration: The first where the two inclusions buckle in the same direction (up-up solution) and the second where the two inclusions buckle in opposite directions (up-down solution). We show that the up-down solution is always energetically favorable over the up-up solution. In addition, we point to a curious symmetry breaking within the up-down scenario; we show that this solution becomes asymmetric in the close separation region.

Light-steered locomotion of muscle-like hydrogel by self-coordinated shape change and friction modulation

Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated actuators to achieve similar purposes. Here we report a hydrogel-based, biomimetic soft robot capable of multimodal locomotion fueled and steered by light irradiation. A muscle-like poly(N-isopropylacrylamide) nanocomposite hydrogel is prepared by electrical orientation of nanosheets and subsequent gelation. Patterned anisotropic hydrogels are fabricated by multi-step electrical orientation and photolithographic polymerization, affording programmed deformations. Under light irradiation, the gold-nanoparticle-incorporated hydrogels undergo concurrent fast isochoric deformation and rapid increase in friction against a hydrophobic substrate. Versatile motion gaits including crawling, walking, and turning with controllable directions are realized in the soft robots by dynamic synergy of localized shape-changing and friction manipulation under spatiotemporal light stimuli. The principle and strategy should merit designing of continuum soft robots with biomimetic mechanisms.

Smart Bilayer Polyacrylamide/DNA Hybrid Hydrogel Film Actuators Exhibiting Programmable Responsive and Reversible Macroscopic Shape Deformations

As a crucial instinct for the survival of organisms, adaptive smart deformation has been well shown via profusely astounding examples within biological morphogenesis in nature, which inspired the construction of biomimetic shape-morphing materials with controlled actuating behaviors. Herein, the construction of nature-inspired bilayer hydrogel film actuators, composed of a polyacrylamide hydrogel passive layer and a polyacrylamide-DNA hybrid hydrogel active layer, which exhibited programmable stimuli-responsive and reversible macroscopic shape deformations directed by the sequence of DNA crosslinking units in the active layer, is reported. As a proof-of-concept, the introduction of DNA i-motif based crosslinking structures into the active layer, which can undergo pH-stimulated formation and dissociation of crosslinking between polymers and therefore change the crosslinking density of the active layer, lead to the redistribution of the internal stresses within the bilayer structure, and result in the pH-stimulated shape deformations. By programming the sequence of DNA units in the active layer, a Ag⁺ /Cysteamine-stimulated bilayer DNA hybrid hydrogel film actuator is further constructed and exhibits excellent actuation behaviors. Thanks to the micrometer-scale thickness of the films, these actuators exhibit a high degree of macroscopic and reversible shape deformations at high speed, which may find use in future smart biosensing and biomedical applications.

A Photoresponsive Hydrogel with Enhanced Photoefficiency and the Decoupled Process of Light Activation and Shape Changing for Precise Geometric Control

Traditional shape-morphing hydrogels rely on structural implementation of inhomogeneity inside the material during fabrication to realize predetermined complex shape change upon activation. In recent years, several systems with reprogrammable shape-morphing capabilities have been developed. Among those, the photoresponsive hydrogels offer the best spatial and temporal control. However, for most photoresponsive hydrogels, upon light irradiation, they simultaneously deform, which requires the projection of the light pattern to be continuously adaptive to the deforming gel. It is impractical for complex 3D morphing. In this paper, by incorporating two photodissociable molecules that can form a reactive ion couple upon light activation into one hydrogel, the light irradiation process is decoupled with the morphing process, and the consumption of the reactive ion couple drives the reversible photochemical reaction forward. Consequently, the photochemical reaction efficiency is improved, and the photoresponsive molecules are locked in the activated state until a recovery stimulus is applied. Based on the proposed general scheme, a specific example is given by incorporating the triphenylmethane leucohydroxide and 2-nitrobenzaldehyde molecules into a polyacrylamide hydrogel. The swelling behavior is characterized, and the reprogrammable morphing with precisely controlled geometry is demonstrated.

Programmable Reversible Shape Transformation of Hydrogels Based on Transient Structural Anisotropy

Stimuli-responsive shape-transforming hydrogels have shown great potential toward various engineering applications including soft robotics and microfluidics. Despite significant progress in designing hydrogels with ever more sophisticated shape-morphing behaviors, an ultimate goal yet to be fulfilled is programmable reversible shape transformation. It is reported here that transient structural anisotropy can be programmed into copolymer hydrogels of N-isopropylacrylamide and stearyl acrylate. Structural anisotropy arises from the deformed hydrophobic domains of the stearyl groups after thermomechanical programming, which serves as a template for the reversible globule-to-coil transition of the poly(N-isopropylacrylamide) chains. The structural anisotropy is transient and can be erased upon cooling. This allows repeated programming for reversible shape transformation, an unknown feature for the current hydrogels. The programmable reversible transformation is expected to greatly extend the technical scope for hydrogel-based devices.

Programmable and Reversible 3D-/4D-Shape-Morphing Hydrogels with Precisely Defined Ion Coordination

Precise and programmable control of reversible deformations of hydrogels has important implications for bionics. This work reports on programmable three-dimensional (3D) deformations and thermoresponsive actuation of polymer hydrogels in a well-defined manner. Precise infiltration of Fe³⁺ with periodic patterns is additionally used to cross-link the local polymer network through ionoprinting with a patterned electrode array. The patterned Fe³⁺ cross-linking generates periodic undulations in cross-link density, stiffness, and thermoresponsiveness. The internal stress induces 3D helical structures with tunable chirality and dimensions. The differential thermoresponsiveness imbues a fourth dimension to the shape deformations. Moreover, sequential ionoprinting generates well-defined in-plane periodic distributions of differential modulus and responsiveness, leading to 3D/4D umbrella-like origami upon temperature triggers.

Kirigami-Design-Enabled Hydrogel Multimorphs with Application as a Multistate Switch

Morphing materials have promising applications in soft robots, intelligent devices, and so forth. Among the various design strategies, kirigami structures are recognized as a powerful tool to obtain sophisticated 3D configurations and unprecedented properties from planar designs on common materials. Here, some kirigami designs are demonstrated for programmable, multistable 3D configurations from composite hydrogel sheets. Via photolithographic polymerization, perforated composite hydrogel sheets are fabricated, in which soft and active hydrogel strips are patterned in stiff and passive hydrogel frames. When immersed in water, the gel strips buckle out of plane due to swelling mismatch. In the kirigami structures, the geometric continuity is disrupted by the introduction of cutouts, and thus the degrees of deformation freedom increases remarkably. Multiple configurations are obtained in a single composite hydrogel by controlling the buckling direction of each strip. Multitier configurations are also obtained by using a hierarchically designed kirigami structure. A multicontact switch of an electric circuit is designed by harnessing the multitier gel configurations. Furthermore, a rotation mode is realized by introducing chirality in the kirigami design. The versatile design of the kirigami structure for programmable deformations should be applicable for other intelligent materials toward promising applications in biomedical devices and flexible electronics.

Deterministic Self-Morphing of Soft-Stiff Hybridized Polymeric Films for Acoustic Metamaterials

We reported a soft-stiff hybridized polymeric film that can self-morph to dedicated three-dimensional (3D) structures for application in acoustic metamaterials. The hybridized film was fabricated by laterally adhering a soft and responsive poly(N-isopropylacrylamide) (PNIPAM) hydrogel to stiff and passive SU-8 patterns. Upon thermal stimulation, deformation of the tough PNIPAM hydrogel was locally constrained by the stiff SU-8 patterns, thereby causing laterally nonuniform strain to their interfaces for mechanically buckling the hybridized films to 3D structures. Combined with finite element analysis, we demonstrated that the stiff SU-8 patterns effectively alleviated the uncontrollability and uncertainty during the self-morphing process, which was caused by unexpected mutual deformation between the active and passive domains in the self-morphing materials. Therefore, deterministic self-buckling to dedicated 3D structures was physically realized such as a wave-shaped peak-valley structure, 3D checkerboard patterns, and Gaussian curved surfaces from the hybridized polymeric films. Finally, we demonstrated that the self-morphed 3D structures with predesigned patterns can be used as acoustic materials for subwavelength noise control. This transformative way of constructing 3D structures by self-morphing of the hybridized polymeric films will be a substantial progress in fabricating smart and multifunctional materials for widespread applications in metamaterials, soft robotics, and 3D electronics.

Nature-Inspired Sequential Shape Transformation of Energy-Patterned Hydrogel Sheets

The design of materials that can mimic encoded shape evolution in nature is important but challenging. Here we present a simple yet versatile strategy for programming the sequential deformation of hydrogel sheets to acquire desired actuation motions and geometric shapes. The method relies on the dual-gradient structure-enabled snapping deformation of hydrogels through the accumulation and burst release of elastic energy, as well as the patterning of the prestored energy in gels. Pretreating distinct regions of the hydrogel sheets with different durations of the same stimulus (or with different stimuli) allows for locally prestoring chemical energy that can be converted to temporospatially patterned elastic energy and abruptly released to drive the successive snapping of different regions of hydrogels in predefined onset sequences. The sequence of energy release (i.e., the sequence of snapping deformation) of the local regions for hydrogels can be reprogrammed by different local prestimulation methods, which allows one gel to deform into various defined geometric configurations. The general mathematic criteria are developed to predict the energy release and snapping of the hydrogels. This work can provide guidance for the design of new-generation actuators and soft robotics.

Osmotic squat actuation in stiffness adjustable bacterial cellulose composite hydrogels

Stimuli-responsive stiffness change and squat actuation were realized in bacterial cellulose hydrogels by utilizing internal osmotic pressure changes.

Stereocomplexed and homocrystalline thermo-responsive physical hydrogels with a tunable network structure and thermo-responsiveness

Robust thermo-responsive physical hydrogels with a tunable network structure and thermo-responsiveness were developed by controlling the crystallization of hydrophobic blocks.

Multiple-Responsive and Amphibious Hydrogel Actuator Based on Asymmetric UCST-Type Volume Phase Transition

Thermoresponsive hydrogel actuators have attracted tremendous interest due to their promising applications in artificial muscles, soft robotics, and flexible electronics. However, most of these materials are based on polymers with lower critical solution temperature (LCST), while those from upper critical solution temperature (UCST) are rare. Herein, we report a multiple-responsive UCST hydrogel actuator based on the complex of poly(acrylic acid) (PAAc) and poly(acrylamide) (PAAm). By applying a heterogeneous photopolymerization, a bilayer hydrogel was obtained, including a layer of the interpenetrating network (IPN) of PAAm/PAAc and a layer of a single network of PAAm. When cooled down below the UCST, the PAAm/PAAc layer contracted due to the hydrogen bonding of the two polymers while the PAAm layer stays in swelling state, driving the hydrogel to curl. By adjusting the composition of the two layers, the amplitude of actuation behavior could be regulated. By creating patterned IPN domains with photomasks, the hydrogel could deform into complex two-dimensional (2D) and three-dimensional (3D) shapes. An active motion was realized in both water and oil bath, thanks to the internal water exchange between the two layers. Interestingly, the hydrogel actuator is also responsive to urea and salts (Na₂SO₄, NaCl, NaSCN), due to that the strength of the hydrogen bonds in the IPN changes with the additives. Overall, the current study realized an anisotropic UCST transition by introducing asymmetrically distributed polymer-polymer hydrogen bonds, which would inspire new inventions of intelligent materials.

Photodirected Morphing Structures of Nanocomposite Shape Memory Hydrogel with High Stiffness and Toughness

Shape memory hydrogels have drawn increasing attention in recent years. Practical applications require these hydrogels to have good mechanical properties as well as contactless stimulations to trigger the shape deformations. Here we report a stiff and tough shape memory hydrogel that can transform to various configurations sequentially by phototriggered site-specific deformations. Response of the shape memory hydrogel to near-infrared (NIR) light irradiation was achieved by incorporating gold nanorods (AuNRs) into the glassy gel matrix of poly(methacrylic acid-co-methacrylamide) without compromising the excellent mechanical properties. Owing to the photothermal effect of the AuNRs, the localized temperature rise led to a dramatic decrease in Young's modulus (from 200 to 2 MPa) of the prestretched hydrogel and bending deformation with a programmable direction and amplitude. More complex three-dimensional configurations can be obtained by multidirectional prestretching and shape memorizing the individual parts of the nanocomposite hydrogel. Furthermore, the AuNRs embedded in the gel were aligned along the prestretching direction, leading to anisotropic plasmon resonance. These photomediated programmable deformations of tough shape memory hydrogels should find applications in the biomedical and engineering fields.

Reversely Orthogonal Actuation of a Janus-Faced Film Based on Asymmetric Polymer Brush Modification

The actuation phenomena of materials upon external stimulus have attracted much attention for the development of excellent sensors and devices. Herein, we present a smart Janus-faced film that exhibits novel behavior of reverse orthogonal actuation under high humidity and a positive actuation under low humidity, which is achieved by asymmetric polymer brushes on polydimethysiloxane as a substrate through surface-initiated atom transfer radical polymerization. The classical theory of plates and shells and finite element simulations are also applied to understand the orthogonal actuation mechanism of the actuator. This Janus-faced film can reversely grab objects rapidly under high humidity, which provides significant potential to design a more intelligent actuator. In addition, this film is highly sensitive to humidity that even the approaching finger can make it to bend, which is just like the actuation behavior of Mimosa pudica. Based on the above phenomena, we also design the sensing devices to realize the detection of humidity. Interestingly, the film intelligently identifies different solvents (e.g., water and ethanol). This work may demonstrate significant potential in smart surface modifications, flexible robots, bionic sensors, and other fields.

Modeling the behavior of inclusions in circular plates undergoing shape changes from two to three dimensions

Growth of biological tissues and shape changes of thin synthetic sheets are commonly induced by stimulation of isolated regions (inclusions) in the system. These inclusions apply internal forces on their surroundings that, in turn, promote 2D layers to acquire complex 3D configurations. We focus on a fundamental building block of these systems, and consider a circular plate that contains an inclusion with dilative strains. Based on the Föppl-von Kármán (FvK) theory, we derive an analytical model that predicts the 2D-to-3D shape transitions in the system. Our findings are summarized in a phase diagram that reveals two distinct configurations in the post-buckling region. One is an extensive profile that holds close to the threshold of the instability, and the second is a localized profile, which preempts the extensive solution beyond the buckling threshold. While the former solution is derived as a perturbation around the flat configuration, assuming infinitesimal amplitudes, the latter solution is derived around a buckled state that is highly localized. We show that up to vanishingly small corrections that scale with the thickness, this localized configuration is equivalent to that expected for ultra-thin sheets, which completely relax compressive stresses. Our findings agree quantitatively with direct numerical minimization of the FvK energy. Furthermore, we extend the theory to describe shape transitions in polymeric gels, and compare the results with numerical simulations that account for the complete elastodynamic behavior of the gels. The agreement between the theory and these simulations indicates that our results are observable experimentally. Notably, our findings can provide guidelines to the analysis of more complicated systems that encompass interaction between several buckled inclusions.

Controlled 3D Shape Transformation Activated by Room Temperature Stretching and Release of a Flat Polymer Sheet

Shape transformation of polymeric materials, including hydrogels, liquid crystalline, and semicrystalline polymers, can be realized by exposing the shape-changing materials to the effect of a variety of stimuli such as temperature, light, pH, and magnetic and electric fields. Herein, we demonstrate a novel and different approach that allows a flat sheet or strip of a polymer to transform into a predesigned 3D shape or structure by simply stretching the polymer at room temperature and then releasing it from the external stress, that is, a 2D-to-3D shape change is activated by mechanical deformation under ambient conditions. This particular type of stimuli-controlled shape-changing polymers is based on suppressing plastic deformation in selected regions of the flat polymer sheet prior to stretching and release. We validated the design principle by using a polymer blend composed of poly(ethylene oxide) (PEO), poly(acrylic acid) (PAA), and tannic acid (TA) whose plastic deformation can be locally inhibited by surface treatment using an aqueous solution of copper sulfate pentahydrate (Cu²⁺ ink) that cross-links PAA chains through a Cu²⁺-carboxylate coordination and, consequently, increases the material's Young's modulus and yield strength. After room temperature stretching and release, elastic deformation in the Cu²⁺ ink-treated regions leads to 3D shape transformation that is controlled by the patterned surface treatment. This facile and effective "stretch-and-release" approach widens the scope of preparation and application for shape-changing polymers.

One-Pot and One-Step Fabrication of Salt-Responsive Bilayer Hydrogels with 2D and 3D Shape Transformations

Bilayer hydrogels are one of the most promising materials for use as soft actuators, artificial muscles, and soft robotic elements. Therefore, the development of new and simple methods for the fabrication of such hydrogels is of particular importance for both academic research and industrial applications. Herein, a facile, one-pot, and one-step methodology was used to prepare bilayer hydrogels. Specifically, several common monomers, including N-isopropyl acrylamide, acrylamide, and N-(2-hydroxyethyl)acrylamide, as well as two salt-responsive zwitterionic monomers, 3-(1-(4-vinylbenzyl)-1H-imidazol-3-ium-3-yl)propane-1-sulfonate (VBIPS) and dimethyl-(4-vinylphenyl)ammonium propane sulfonate (DVBAPS), were chosen and employed with different combinations and ratios to understand the formation and structural tunability of the bilayer hydrogels. The results indicated that a salt-responsive zwitterionic-enriched copolymer, which could precipitate from water, plays a dominant role in the formation of the bilayer structure and that the ratio between the common monomer and the zwitterionic monomer had a significant effect on the structure. Due to the salt-responsive properties of polyVBIPS and polyDVBAPS, the resultant bilayer hydrogels exhibited excellent bidirectional bending properties in response to the salt solution. With the optimal monomer pair and ratio determined, the bend of the hydrogel could be reversed from ∼-360 to ∼266° in response to a switch between water and a 1.0 M NaCl solution. Additionally, this method was further used to fabricate small-scaled patterns with structural and compositional distinction in two-dimensional hydrogel sheets. These two-dimensional hydrogel sheets exhibited complex and reversible three-dimensional shape transformations due to the different bending behaviors of the patterned hydrogel stripes under the action of an external stimulus. This work provides greater insight into the mechanism of the one-step, one-pot method fabrication of bilayer hydrogels, demonstrates the ability of this method for the preparation of small-scale patterns in hydrogel sheets to endow the complex with a three-dimensional shape transformation capability, and hopefully opens up a new pathway for the design and fabrication of smart hydrogels.