Liquid crystal elastomer shell actuators with negative order parameter

Towards electrospray-assisted production of lipid-based synthetic cell assemblies

Lipid-based vesicles are widely used, minimalistic model containers for in vitro reconstitution of biological systems and engineering synthetic cells. These containers provide a micro-chassis to encapsulate biomolecules and study biochemical interactions. Liposomes are often the most sought-after vesicles owing to their cell-mimicking nature, and numerous bulk and on-chip methods exist for their production. However, exploring the scope of synthetic containers, both in terms of the alternative lipid assemblies as well as newer production methods is useful for expanding the toolbox for synthetic biology. In this paper, we report the development of an electrospray-based technique, which we term "ATPS-templated lipid assemblies via electrofusion of SUVs" (ATLAES), to form lipid-based vesicles. Using an aqueous two-phase system (ATPS), free of organic solvents, we demonstrate efficient formation of microscopic vesicles stabilized via interfacial lipid assembly. Interestingly, the formed vesicles exhibit a nebulous and disordered, but highly stable coating of lipids, and tend to form interconnected vesicle populations. Remarkably, the lipid assemblies can continue to rearrange and reconfigure over time, leading to spherical vesicles with ultra-thin and smooth lipid coating, suggestive of liposomes. Our work provides a new avenue, in the form of electrospray, to form various lipid-based assemblies using all-aqueous systems and we believe this platform can be further exploited for high-throughput vesicle production and higher-order assemblies.

Soft Materials and Devices Enabling Sensorimotor Functions in Soft Robots

Sensorimotor functions, the seamless integration of sensing, decision-making, and actuation, are fundamental for robots to interact with their environments. Inspired by biological systems, the incorporation of soft materials and devices into robotics holds significant promise for enhancing these functions. However, current robotics systems often lack the autonomy and intelligence observed in nature due to limited sensorimotor integration, particularly in flexible sensing and actuation. As the field progresses toward soft, flexible, and stretchable materials, developing such materials and devices becomes increasingly critical for advanced robotics. Despite rapid advancements individually in soft materials and flexible devices, their combined applications to enable sensorimotor capabilities in robots are emerging. This review addresses this emerging field by providing a comprehensive overview of soft materials and devices that enable sensorimotor functions in robots. We delve into the latest development in soft sensing technologies, actuation mechanism, structural designs, and fabrication techniques. Additionally, we explore strategies for sensorimotor control, the integration of artificial intelligence (AI), and practical application across various domains such as healthcare, augmented and virtual reality, and exploration. By drawing parallels with biological systems, this review aims to guide future research and development in soft robots, ultimately enhancing the autonomy and adaptability of robots in unstructured environments.

Micropatterned Liquid Crystalline Networks for Multipurpose Color Pixels

Materials that can visually report changes in the surrounding environments are essential for future portable sensors that monitor temperature and detect hazardous chemicals. Ideal responsive materials for optical sensors are defined by a rapid response and readout, high selectivity, the ability to operate at room temperature, and simple microfabrication. However, because of the lack of viable materials and approaches, compact, passive, and multipurpose practical devices are still beyond reach. To address this challenge, we develop a methodology to fabricate colored and responsive micropixels printed by digital light projection lithography on gold substrates. These structures are made by polymeric Liquid Crystalline Networks (LCNs) whose birefringence and external stimuli responsiveness allow for micrometric devices with visual and fast response that we here apply to a few applications. First, we show how varying the projected geometrical shape can become an effective tool to engineer symmetric disclination lines in the liquid crystal order. Depending on the thickness of the micropixels, LCNs give rise to a birefringence color under polarized light or a structural color under white light due to thin-film interference. By exposing the micropatterns to temperature variation and solvents, we demonstrate a real-time optical temperature detection and differentiation between selected organic chemicals. The proposed materials and fabrication method could be scaled up and extended to roll-to-roll printing, enabling future real-life applications of liquid crystalline polymers in affordable microdevices and optical sensors with a net advantage with respect to traditional lithographic techniques in terms of fabrication speeds and costs.

A Light-Powered Self-Circling Slider on an Elliptical Track with a Liquid Crystal Elastomer Fiber

In this paper, we propose an innovative light-powered LCE-slider system that enables continuous self-circling on an elliptical track and is comprised of a light-powered LCE string, slider, and rigid elliptical track. By formulating and solving dimensionless dynamic equations, we explain static and self-circling states, emphasizing self-circling dynamics and energy balance. Quantitative analysis reveals that the self-circling frequency of LCE-slider systems is independent of the initial tangential velocity but sensitive to light intensity, contraction coefficients, elastic coefficients, the elliptical axis ratio, and damping coefficients. Notably, elliptical motion outperforms circular motion in angular velocity and frequency, indicating greater efficiency. Reliable self-circling under constant light suggests applications in periodic motion fields, especially celestial mechanics. Additionally, the system's remarkable adaptability to a wide range of curved trajectories exemplifies its flexibility and versatility, while its energy absorption and conversion capabilities position it as a highly potential candidate for applications in robotics, construction, and transportation.

2D and 3D Self-Assembly of Fluorine-Free Pillar-[5]-Arenes and Perfluorinated Diacids at All-Aqueous Interfaces

The interaction of perfluorinated molecules, also known as "forever chemicals" due to their pervasiveness, with their environment remains an important yet poorly understood topic. In this work, the self-assembly of perfluorinated molecules with multivalent hosts, pillar-[5]-arenes, is investigated. It is found that perfluoroalkyl diacids and pillar-[5]-arenes rapidly and strongly complex with each other at aqueous interfaces, forming solid interfacially templated films. Their complexation is shown to be driven primarily by fluorophilic aggregation and assisted by electrostatic interactions, as supported by the crystal structure of the complexes, and leads to the formation of quasi-2D phase-separated films. This self-assembly process can be further manipulated using aqueous two-phase system microdroplets, enabling the controlled formation of 3D micro-scaffolds.

Theoretical Analysis of Light-Actuated Self-Sliding Mass on a Circular Track Facilitated by a Liquid Crystal Elastomer Fiber

Self-vibrating systems obtaining energy from their surroundings to sustain motion can offer great potential in micro-robots, biomedicine, radar systems, and amusement equipment owing to their adaptability, efficiency, and sustainability. However, there is a growing need for simpler, faster-responding, and easier-to-control systems. In the study, we theoretically present an advanced light-actuated liquid crystal elastomer (LCE) fiber-mass system which can initiate self-sliding motion along a rigid circular track under constant light exposure. Based on an LCE dynamic model and the theorem of angular momentum, the equations for dynamic control of the system are deduced to investigate the dynamic behavior of self-sliding. Numerical analyses show that the theoretical LCE fiber-mass system operates in two distinct states: a static state and a self-sliding state. The impact of various dimensionless variables on the self-sliding amplitude and frequency is further investigated, specifically considering variables like light intensity, initial tangential velocity, the angle of the non-illuminated zone, and the inherent properties of the LCE material. For every increment of π/180 in the amplitude, the elastic coefficient increases by 0.25% and the angle of the non-illuminated zone by 1.63%, while the light intensity contributes to a 20.88% increase. Our findings reveal that, under constant light exposure, the mass element exhibits a robust self-sliding response, indicating its potential for use in energy harvesting and other applications that require sustained periodic motion. Additionally, this system can be extended to other non-circular curved tracks, highlighting its adaptability and versatility.

Dual-Wavelength Volumetric Microlithography for Rapid Production of 4D Microstructures

4D microstructured actuators are micro-objects made of stimuli-responsive materials capable of induced shape deformations, with applications ranging from microrobotics to smart micropatterned haptic surfaces. The novel technology dual-wavelength volumetric microlithography (DWVML) realizes rapid printing of high-resolution 3D microstructures and so has the potential to pave the way to feasible manufacturing of 4D microdevices. In this work, DWVML is applied for the first time to printing stimuli-responsive materials, namely, liquid crystal networks (LCNs). An LCN photoresist is developed and characterized, and large arrays of up to 5625 LCN micropillars with programmable shape changes are produced by means of DWVML in the time span of seconds, over areas as large as ∼5.4 mm2. The production rate of 0.24 mm3 h-1 is achieved, exceeding speeds previously reported for additive manufacturing of LCNs by 2 orders of magnitude. Finally, a membrane with tunable, micrometer-sized pores is fabricated to illustrate the potential DWVML holds for real-world applications.

Synchronous behaviors of three coupled liquid crystal elastomer-based spring oscillators under linear temperature fields

Self-oscillating coupled systems possess the ability to actively absorb external environmental energy to sustain their motion. This quality endows them with autonomy and sustainability, making them have application value in the fields of synchronization and clustering, thereby furthering research and exploration in these domains. Building upon the foundation of thermal responsive liquid crystal elastomer-based (LCE-based) spring oscillators, a synchronous system comprising three LCE-based spring oscillators interconnected by springs is established. In this paper, the synchronization phenomenon is described, and the self-oscillation mechanism is revealed. The results indicate that by varying system parameters and initial conditions, three synchronization patterns emerge, namely, full synchronous mode, partial synchronous mode, and asynchronous mode. For strongly interacting systems, full synchronous mode always prevails, while for weak interactions, the adjustment of initial velocities in magnitude and direction yields the three synchronization patterns. Additionally, this study explores the impact of several system parameters, including LCE elasticity coefficient and spring elasticity coefficient, on the amplitude, frequency, and synchronous mode of the system. The findings in this paper can enhance our understanding of the synchronization behavior of multiple mutually coupled LCE-based spring oscillators, with promising applications in energy harvesting, soft robotics, signal monitoring, and various other fields.

Structural Color from Cellulose Nanocrystals or Chitin Nanocrystals: Self-Assembly, Optics, and Applications

Widespread concerns over the impact of human activity on the environment have resulted in a desire to replace artificial functional materials with naturally derived alternatives. As such, polysaccharides are drawing increasing attention due to offering a renewable, biodegradable, and biocompatible feedstock for functional nanomaterials. In particular, nanocrystals of cellulose and chitin have emerged as versatile and sustainable building blocks for diverse applications, ranging from mechanical reinforcement to structural coloration. Much of this interest arises from the tendency of these colloidally stable nanoparticles to self-organize in water into a lyotropic cholesteric liquid crystal, which can be readily manipulated in terms of its periodicity, structure, and geometry. Importantly, this helicoidal ordering can be retained into the solid-state, offering an accessible route to complex nanostructured films, coatings, and particles. In this review, the process of forming iridescent, structurally colored films from suspensions of cellulose nanocrystals (CNCs) is summarized and the mechanisms underlying the chemical and physical phenomena at each stage in the process explored. Analogy is then drawn with chitin nanocrystals (ChNCs), allowing for key differences to be critically assessed and strategies toward structural coloration to be presented. Importantly, the progress toward translating this technology from academia to industry is summarized, with unresolved scientific and technical questions put forward as challenges to the community.

Self-Assembled Microactuators Using Chiral Liquid Crystal Elastomers

Materials that undergo reversible changes in form typically require top-down processing to program the microstructure of the material. As a result, it is difficult to program microscale, 3D shape-morphing materials that undergo non-uniaxial deformations. Here, a simple bottom-up fabrication approach to prepare bending microactuators is described. Spontaneous self-assembly of liquid crystal (LC) monomers with controlled chirality within 3D micromold results in a change in molecular orientation across thickness of the microstructure. As a result, heating induces bending in these microactuators. The concentration of chiral dopant is varied to adjust the chirality of the monomer mixture. Liquid crystal elastomer (LCE) microactuators doped with 0.05 wt% of chiral dopant produce needle-shaped actuators that bend from flat to an angle of 27.2 ± 11.3° at 180 °C. Higher concentrations of chiral dopant lead to actuators with reduced bending, and lower concentrations of chiral dopant lead to actuators with poorly controlled bending. Asymmetric molecular alignment inside 3D structure is confirmed by sectioning actuators. Arrays of microactuators that all bend in the same direction can be fabricated if symmetry of geometry of the microstructure is broken. It is envisioned that the new platform to synthesize microstructures can further be applied in soft robotics and biomedical devices.

Self-Vibration of Liquid Crystal Elastomer Strings under Steady Illumination

Self-vibrating systems based on active materials have been widely developed, but most of the existing self-oscillating systems are complex and difficult to control. To fulfill the requirements of different functions and applications, it is necessary to construct more self-vibrating systems that are easy to control, simple in material preparation and fast in response. This paper proposes a liquid crystal elastomer (LCE) string-mass structure capable of continuous vibration under steady illumination. Based on the linear elastic model and the dynamic LCE model, the dynamic governing equations of the LCE string-mass system are established. Through numerical calculation, two regimes of the LCE string-mass system, namely the static regime and the self-vibration regime, are obtained. In addition, the light intensity, contraction coefficient and elastic coefficient of the LCE can increase the amplitude and frequency of the self-vibration, while the damping coefficient suppresses the self-oscillation. The LCE string--mass system proposed in this paper has the advantages of simple structure, easy control and customizable size, which has a wide application prospect in the fields of energy harvesting, autonomous robots, bionic instruments and medical equipment.

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

Owing to their high deformation ability, 4D printed structures have various applications in origami structures, soft robotics and deployable mechanisms. As a material with programmable molecular chain orientation, liquid crystal elastomer is expected to produce the freestanding, bearable and deformable three-dimensional structure. However, majority of the existing 4D printing methods for liquid crystal elastomers can only fabricate planar structures, which limits their deformation designability and bearing capacity. Here we propose a direct ink writing based 4D printing method for freestanding continuous fiber reinforced composites. Continuous fibers can support freestanding structures during the printing process and improve the mechanical property and deformation ability of 4D printed structures. In this paper, the integration of 4D printed structures with fully impregnated composite interfaces, programmable deformation ability and high bearing capacity are realized by adjusting the off-center distribution of the fibers, and the printed liquid crystal composite can carry a load of up to 2805 times its own weight and achieve a bending deformation curvature of 0.33 mm^-1 at 150 °C. This research is expected to open new avenues for creating soft robotics, mechanical metamaterials and artificial muscles.

A cold-responsive liquid crystal elastomer provides visual signals for monitoring a critical temperature decrease

Critical temperature indicators have been extensively utilized in various fields, ranging from healthcare to food safety. However, the majority of the temperature indicators are designed for upper critical temperature monitoring, indicating when the temperature rises and exceeds a predefined limit, whereas stringently demanded low critical temperature indicators are scarcely developed. Herein, we develop a new material and system that monitor temperature decrease, e.g., from ambient temperature to the freezing point, or even to an ultra-low temperature of -20 °C. For this purpose, we create a dynamic membrane which can open and close during temperature cycles from high temperature to low temperature. This membrane consists of a gold-liquid crystal elastomer (Au-LCE) bilayer structure. Unlike the commonly used thermo-responsive LCEs which actuate upon temperature rise, our LCE is cold-responsive. This means that geometric deformations occur when the environmental temperature decreases. Specifically, upon temperature decrease the LCE creates stresses at the gold interface by uniaxial deformation due to expansion along the molecular director and shrinkage perpendicular to it. At a critical stress, optimized to occur at the desired temperature, the brittle Au top layer fractures, which allows contact between the LCE and material on top of the gold layer. Material transport via cracks enables the onset of the visible signal for instance caused by a pH indicator substance. We apply the dynamic Au-LCE membrane for cold-chain applications, indicating the loss of the effectiveness of perishable goods. We anticipate that our newly developed low critical temperature/time indicator will be shortly implemented in supply chains to minimize food and medical product waste.

Continuous Flow Microfluidic Production of Arbitrarily Long Tubular Liquid Crystal Elastomer Peristaltic Pump Actuators

While liquid crystal elastomers (LCEs) are ideal materials for soft-robotic actuators, filling the role of muscle and shape-defining material simultaneously, it is non-trivial to give them ground state shapes beyond simple sheets or fibers. Here tubular LCE actuators scalable to arbitrary length are produced using a continuous three-phase coaxial flow microfluidic process. By pumping an oligomeric precursor solution between inner and outer aqueous phases in a cylindrically symmetric nested capillary set-up, and by reducing the interfacial tension to negligible values using surfactants adapted to each phase, the tubular liquid flow is stabilized over distances more than 200 times the diameter or 2000 times the thickness. In situ photocrosslinking of the middle phase turns it into an LCE network that is flow-aligned by the shear gradient over the phase. The reversible actuation of the tubes upon heating yields a reduction of the interior space, pumping out enclosed fluid, and the relaxation upon cooling leads to the fluid being sucked back in. By moving a local heat source along the tube, it acts as a peristaltic pump. It is proposed that the tubes could, pending functionalization for light-triggered actuation, function as active synthetic vasculature in biological contexts.

Light‐ and Field‐Controlled Diffusion, Ejection, Flow and Collection of Liquid at a Nanoporous Liquid Crystal Membrane

Liquid manipulation at solid surfaces has attracted plenty of interest yet most of them are limited to one or two direction(s), while transport in three dimensions is largely unexplored. Here, we demonstrate three‐dimensionally steered dynamic liquid mobility at nanoporous liquid crystal polymer coatings. To this end, we orchestrate liquid motion via sequential triggers of light and/or electric field. Upon a primary flood exposure to UV light, liquid is ejected globally over the entire coating surfaces. We further reallocate the secreted liquid by applying a secondary electric field stimulus. By doing so, the liquid is transported and collected at pre‐set positions as determined by the electrode positions. We further monitor this process in real‐time and perform precise analysis. Interestingly, when applying those two triggers simultaneously, we discover a UV‐gated liquid‐release effect, which decreases threshold voltage as well as threshold frequency.

Exchangeable Liquid Crystalline Elastomers and Their Applications

This Review presents and discusses the current state of the art in "exchangeable liquid crystalline elastomers", that is, LCE materials utilizing dynamically cross-linked networks capable of reprocessing, reprogramming, and recycling. The focus here is on the chemistry and the specific reaction mechanisms that enable the dynamic bond exchange, of which there is a variety. We compare and contrast these different chemical mechanisms and the key properties of their resulting elastomers. In the conclusion, we discuss the most promising applications that are enabled by dynamic cross-linking and present a summary table: a library of currently available materials and their main characteristics.

Monodisperse Liquid Crystalline Polymer Shells with Programmable Alignment and Shape Prepared by Seeded Dispersion Polymerization

Monodisperse, micrometer-sized liquid crystalline (LC) shells are prepared by seeded dispersion polymerization. After polymerizing LC monomer mixtures in the presence of non-crosslinked polymer seeds, hollow LC polymer shells with programmable alignment and shape are prepared by removing the seeds. The LC alignment in the LC polymer shells can be easily manipulated by the polymer seeds, as a radial alignment is observed with amorphous poly(phenyl methacrylate) seeds and a bipolar alignment is observed with bipolar LC polymer seeds. After removal of the seeds, the radially aligned samples give radially aligned shells with small dimples. The resulting bipolar LC polymer shells collapse into a biconcave shape. Polarized optical microscopy and transmission electron microscopy indicate that the collapse occurs at the defect points in the shell. In the case of a lower crosslink density, LC polymer hollow shells with larger dimples are obtained, resulting in cup-shaped polymer particles. Biconcave LC polymer shells based on other LC mixtures have also been prepared, showing the versatility of the seeded dispersion polymerization method.

Liquid Crystal Elastomers for Biological Applications

The term liquid crystal elastomer (LCE) describes a class of materials that combine the elastic entropy behaviour associated with conventional elastomers with the stimuli responsive properties of anisotropic liquid crystals. LCEs consequently exhibit attributes of both elastomers and liquid crystals, but additionally have unique properties not found in either. Recent developments in LCE synthesis, as well as the understanding of the behaviour of liquid crystal elastomers—namely their mechanical, optical and responsive properties—is of significant relevance to biology and biomedicine. LCEs are abundant in nature, highlighting the potential use of LCEs in biomimetics. Their exceptional tensile properties and biocompatibility have led to research exploring their applications in artificial tissue, biological sensors and cell scaffolds by exploiting their actuation and shock absorption properties. There has also been significant recent interest in using LCEs as a model for morphogenesis. This review provides an overview of some aspects of LCEs which are of relevance in different branches of biology and biomedicine, as well as discussing how recent LCE advances could impact future applications.

Programmable liquid crystal elastomer microactuators prepared via thiol-ene dispersion polymerization

Narrowly dispersed, 10 micron-sized, liquid crystalline elastomer polymer actuators were first prepared via thiol-ene dispersion polymerization and then embedded and stretched in a polyvinyl alcohol film, followed by photopolymerization of the residual acrylate groups. Prolate micro spheroids in which the mesogens are aligned parallel to the long axis were obtained and showed reversible thermally driven actuation owing to nematic to isotropic transition of the liquid crystal molecules. The particles were also compressed to form disk-shaped oblate microactuators in which the mesogens are aligned perpendicular to the short axis, demonstrating that the reported method is a versatile method to fabricate liquid crystal elastomer microactuators with programmable properties.

Siloxane crosslinks with dynamic bond exchange enable shape programming in liquid-crystalline elastomers

Liquid crystalline elastomers (LCE) undergo reversible shape changes in response to stimuli, which enables a wide range of smart applications, in soft robotics, adhesive systems or biomedical medical devices. In this study, we introduce a new dynamic covalent chemistry based on siloxane equilibrium exchange into the LCE to enable processing (director alignment, remolding, and welding). Unlike the traditional siloxane based LCE, which were produced by reaction schemes with irreversible bonds (e.g. hydrosilylation), here we use a much more robust reaction (thiol-acrylate/thiol-ene 'double-click' chemistry) to obtain highly uniform dynamically crosslinked networks. Combining the siloxane crosslinker with click chemistry produces exchangeable LCE (xLCE) with tunable properties, low glass transition (-30 °C), controllable nematic to isotropic transition (33 to 70 °C), and a very high vitrification temperature (up to 250 °C). Accordingly, this class of dynamically crosslinked xLCE shows unprecedented thermal stability within the working temperature range (-50 to 140 °C), over many thermal actuation cycles without any creep. Finally, multiple xLCE sharing the same siloxane exchangeable bonds can be welded into single continuous structures to allow for composite materials that sequentially and reversibly undergo multiple phase transformations in different sections of the sample.

Brownian dynamics simulations of one-patch inverse patchy particles

Inverse patchy particles are promising colloids to develop new architectures in ceramic materials based on their self-assembly. Nonetheless, a good understanding of their aggregation is required. Several previous studies have shown that the behavior of ceramic colloids can be well described by the DLVO interaction potential. In the present paper, we develop new coarse-grained Brownian dynamics simulations, where particles are represented by an assembly of beads interacting via DLVO interactions, whose parameters can be directly linked to experimental characterization. First, the validity of the simulations is proved by studying the heteroaggregation of homogeneously charged particles. Then, simulations are applied to one-patch inverse patchy particles to study the effect of the patch size. They show that the smaller the patch, the more elongated the aggregates. Simulations are also performed to understand the role of the Debye screening length in the particular case of large patches and they show that aggregation leads always to compact aggregates.