Synthesis and Application of Modulated Polymer Gels

Light-Induced Transformation from Covalent to Supramolecular Polymer Networks

Stimuli-responsive polymers have demonstrated significant potential in the development of smart materials due to their capacity to undergo targeted property changes in response to external physical or chemical stimuli. However, the scales of response in most existing stimuli-responsive polymer systems are mainly focused on three levels: functional units, chain conformations, or polymer topologies. Herein, we have developed a covalent polymer network (CPN) capable of converting into a supramolecular polymer network (SPN) within bulk materials directly at the scale of polymer network types. This transformation is enabled by specifically designed covalent moieties that upon UV exposure reveal quadruple hydrogen bonding sites, allowing the formation of a supramolecular network. This network-type transition from CPN to SPN induces pronounced intrinsic changes in material properties, including a substantially increased breaking elongation, lower Young's modulus, reduced fracture strength, and decreased creep resistance, marking a shift from a stable, rigid structure to a dynamic, adaptable one. These findings provide new insights into the design of advanced stimuli-responsive polymer materials through network-type transformations, opening new avenues for applications in smart and multifunctional materials.

Muscle-like hydrogels with fast isochoric responses and their applications as soft robots: a minireview

Hydrogels with abundant water and responsiveness to external stimuli have emerged as promising candidates for artificial muscles and garnered significant interest for applications as soft actuators and robots. However, most hydrogels possess amorphous structures and exhibit slow, isotropic responses to external stimuli. These features are far inferior to real muscles, which have ordered structures and endow living organisms with programmable deformations and motions through fast, anisotropic responses in complex environments. In recent years, this issue has been addressed by a conceptual new strategy to develop muscle-like hydrogels with highly oriented nanosheets. These hydrogels exhibit fast, isochoric responses based on temperature-mediated electrostatic repulsion between charged nanosheets rather than water diffusion, which significantly advances the development of soft actuators and robots. This minireview summarizes the recent progress in muscle-like hydrogels and their applications as soft actuators and robots. We first introduce the synthesis of muscle-like hydrogels with monodomain structures and the unique mechanism for rapid and isochoric deformations. Then, the developments of hydrogels with complex ordered structures and hydrogel-based soft robots are discussed. The morphing mechanisms and motion kinematics of the hydrogel actuators and robots are highlighted. Finally, concluding remarks are given to discuss future opportunities and challenges in this field.

Marine Amoebae-Inspired Salting Hydrogels to Reconfigure Anisotropy for Reprogrammable Shape Morphing

Reprogrammable shape morphing is ubiquitous in living beings and highly crucial for them to move in normal situations, even to survive under dangerous conditions. There is increasing interest in using asymmetric hydrogel structures to understand and mimic living beings' shape morphing upon an external trigger in a controlled way. However, these asymmetric or heterogeneous configurations cannot be further modified once the polymer hydrogels are prepared. Therefore, it is a great challenge to achieve reprogrammable shape morphing using the existing hydrogels. Inspired by marine amoebae, which transform into several different morphologies according to the various external salt concentrations, a new strategy is developed for salting hydrogels to reconfigure their anisotropy toward reprogrammable shape morphing. Polyampholyte hydrogels with equal stoichiometric COO- and N+(CH3)3 groups were first swollen in HCl/NaCl solution. After being then transferred into water, they first swollen again by water uptake driven by the osmotic pressure, and then were spontaneously deswollen due to increase in internal pH and dialysis of ions leading to deprotonation of COOH to COO- and regeneration of COO-/N+(CH3)3 electrostatic attraction. This work provides a novel strategy to reconfigure anisotropy of hydrogel soft actuators and to open up an avenue for reprogrammable shape morphing.

A Photothermal-Responsive Soft Actuator Based on Biomass Carbon Nanosheets of Synergistic Bilateral Polymers

Currently, polymer actuators capable of photothermal response are being developed to be more sensitive and repeatable. In this work, a three-layered structured soft film actuator (NA/PET/NI-3) was designed by combining poly(N-isopropylacrylamide) (PNIPAM), poly(N-(2-aminoethyl)-acrylamide) (PANGA) and poly(ethylene glycol-co-terephthalate) (PET) film. Coconut water and PEI were used to synthesize a new kind of carbon nanosheet (PEI-CCS), which, when triggered by near-infrared light, will enable photothermal bending behavior in the micrometer-scale NA/PET/NI-n film, while PET served as the supporting and heat conducting layer. This three-layered actuator utilized the synergistic effects of two kind of polymers, PNIPAM and PNAGA, on either side of PET, with the upper critical solution temperatures and lower critical solution temperatures when subjected to temperature changes. This bilateral polymer design exhibited a rapid response under near-infrared light stimulation, bending to 180° within 4 s and recovering to its original shape within 30 s. When the bending process was set to 90° as in the standard experiment, NA/PET/NI-3 responded within 2 s and recovered within 8 s. NA/PET/NI-3 also demonstrated good reversibility and repeatability, capable of undergoing reversible driving over 120 times. The design and preparation of this actuator provided new ideas for the development of polymer soft actuators.

Elasto-plastic effects on shape-shifting electron-beam-patterned gel-based micro-helices

Shape-shifting helical gels have been created by various routes, notably by photolithography. We explore electron-beam lithography as an alternative to prescribe microhelix formation in tethered patterns of pure poly(acrylic acid). Simulations indicate the nanoscale spatial distribution of deposited energy that drives the loss of acid groups and crosslinking. Upon exposure to buffer, a patterned line converts to a 3D helix whose cross section comprises a crosslinked and hydrophobic core surrounded by a high-swelling pH-responsive corona. Through-thickness asymmetries generate out-of-plane bending to drive helix formation. The relative core and corona fractions are determined by the electron dose which in turn controls the helical radius and pitch. Increasing pH substantially raises the swelling stress and the rod elongates plastically. The pitch concurrently changes from minimal to non-minimal. The in-plane asymmetry driving this change can be attributed to shear-band formation in the hydrophobic core. Subsequent pH cycling drives elastic cycling of the helical properties. These findings illustrate the effects of elastoplastic deformation on helical properties and elaborate unique attributes of electron lithography as an alternate means to create shape-shifting structures.

Biomedical applications of stimuli-responsive "smart" interpenetrating polymer network hydrogels

In recent years, owing to the ongoing advancements in polymer materials, hydrogels have found increasing applications in the biomedical domain, notably in the realm of stimuli-responsive "smart" hydrogels. Nonetheless, conventional single-network stimuli-responsive "smart" hydrogels frequently exhibit deficiencies, including low mechanical strength, limited biocompatibility, and extended response times. In response, researchers have addressed these challenges by introducing a second network to create stimuli-responsive "smart" Interpenetrating Polymer Network (IPN) hydrogels. The mechanical strength of the material can be significantly improved due to the topological entanglement and physical interactions within the interpenetrating structure. Simultaneously, combining different network structures enhances the biocompatibility and stimulus responsiveness of the gel, endowing it with unique properties such as cell adhesion, conductivity, hemostasis/antioxidation, and color-changing capabilities. This article primarily aims to elucidate the stimulus-inducing factors in stimuli-responsive "smart" IPN hydrogels, the impact of the gels on cell behaviors and their biomedical application range. Additionally, we also offer an in-depth exposition of their categorization, mechanisms, performance characteristics, and related aspects. This review furnishes a comprehensive assessment and outlook for the advancement of stimuli-responsive "smart" IPN hydrogels within the biomedical arena. We believe that, as the biomedical field increasingly demands novel materials featuring improved mechanical properties, robust biocompatibility, and heightened stimulus responsiveness, stimuli-responsive "smart" IPN hydrogels will hold substantial promise for wide-ranging applications in this domain.

Twisting, untwisting, and retwisting of elastic Co-based nanohelices

The reversible transformation of a nanohelix is one of the most exquisite and important phenomena in nature. However, nanomaterials usually fail to twist into helical crystals. Considering the irreversibility of the previously studied twisting forces, the reverse process (untwisting) is more difficult to achieve, let alone the retwisting of the untwisted crystalline nanohelices. Herein, we report a new reciprocal effect between molecular geometry and crystal structure which triggers a twisting-untwisting-retwisting cycle for tri-cobalt salicylate hydroxide hexahydrate. The twisting force stems from competition between the condensation reaction and stacking process, different from the previously reported twisting mechanisms. The resulting distinct nanohelices give rise to unusual structure elasticity, as reflected in the reversible change of crystal lattice parameters and the mutual transformation between the nanowires and nanohelices. This study proposes a fresh concept for designing reversible processes and brings a new perspective in crystallography.

Fast-response photothermal bilayer actuator based on poly(N-isopropylacrylamide)-graphene oxide-hydroxyethyl methacrylate/polydimethylsiloxane

Demands for highly deformable and responsive intelligent actuators are increasing rapidly. Herein, a photothermal bilayer actuator consisting of a photothermal-responsive composite hydrogel layer and a polydimethylsiloxane (PDMS) layer is presented. The photothermal-responsive composite hydrogel is prepared by compositing hydroxyethyl methacrylate (HEMA) and the photothermal material graphene oxide (GO) with the thermal-responsive hydrogel poly(N-isopropylacrylamide) (PNIPAM). The HEMA improves the transport efficiency of water molecules inside the hydrogel network, eliciting a fast response and large deformation, facilitating greater bending behavior of the bilayer actuator, and improving the mechanical and tensile properties of the hydrogel. Moreover, GO enhances the mechanical properties and the photothermal conversion efficiency of the hydrogel in the thermal environment. This photothermal bilayer actuator can be driven under various conditions, such as hot solution, simulated sunlight, and laser, and can achieve large bending deformation with desirable tensile properties, broadening the application conditions for bilayer actuators, such as artificial muscles, bionic actuators, and soft robotics.

Bistable Joints Enable the Morphing of Hydrogel Sheets with Multistable Configurations

Joints, as a flexing element to connect different parts, are widespread in natural systems. Various joints exist in the body and play crucial roles to execute gestures and gaits. These scenarios have inspired the design of mechanical joints with passive, hard materials, which usually need an external power supply to drive the transformations. The incorporation of soft and active joints provides a modular strategy to devise soft actuators and robots. However, transformations of responsive joints under external stimuli are usually in uni-mode with a pre-determined direction. Here, hydrogel joints capable of folding and twisting transformation in bi-mode are reported, which enable the composite hydrogel to form multiple configurations under constant conditions. These joints have an in-plane gradient structure and comprise stiff, passive gel as the frame and soft, active gel as the actuating unit. Under external stimuli, the response mismatch between different gels leads to out-of-plane folding or twisting deformation with the feature of bistability. These joints can be modularly integrated with other gels to afford complex deformations and multistable configurations. This approach favors selective control of hydrogel's architectures and versatile design of hydrogel devices, as demonstrated by proof-of-concept examples. It shall also merit the development of metamaterials, soft actuators, and robots, etc.

Microvalves for Applications in Centrifugal Microfluidics

Centrifugal microfluidic platforms (CDs) have opened new possibilities for inexpensive point-of-care (POC) diagnostics. They are now widely used in applications requiring polymerase chain reaction steps, blood plasma separation, serial dilutions, and many other diagnostic processes. CD microfluidic devices allow a variety of complex processes to transfer onto the small disc platform that previously were carried out by individual expensive laboratory equipment requiring trained personnel. The portability, ease of operation, integration, and robustness of the CD fluidic platforms requires simple, reliable, and scalable designs to control the flow of fluids. Valves play a vital role in opening/closing of microfluidic channels to enable a precise control of the flow of fluids on a centrifugal platform. Valving systems are also critical in isolating chambers from the rest of a fluidic network at required times, in effectively directing the reagents to the target location, in serial dilutions, and in integration of multiple other processes on a single CD. In this paper, we review the various available fluidic valving systems, discuss their working principles, and evaluate their compatibility with CD fluidic platforms. We categorize the presented valving systems into either "active", "passive", or "hybrid"-based on their actuation mechanism that can be mechanical, thermal, hydrophobic/hydrophilic, solubility-based, phase-change, and others. Important topics such as their actuation mechanism, governing physics, variability of performance, necessary disc spin rate for valve actuation, valve response time, and other parameters are discussed. The applicability of some types of valves for specialized functions such as reagent storage, flow control, and other applications is summarized.

4D Multiscale Origami Soft Robots: A Review

Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.

Anion-Induced Reversible Actuation of Squaramide-Crosslinked Polymer Gels

Supramolecular anion binding to squaramide crosslinkers in poly(N,N-dimethylacrylamide) gel networks enhances swelling and allows reversible chemically driven actuation. The volume swelling ratio of the gels is shown to depend on both the type of anion and its concentration. ¹H NMR and UV-vis titrations with the squaramide crosslinkers reveal a relationship between anion binding affinity and the concentration-dependent swelling behavior. Gel swelling is shown to be reversible, and by embedding a solid support into rod-shaped gels, soft actuators are fabricated that undergo forward and backward bending motion in response to changing anion concentration. The swelling and bending process, which is accompanied by intense green coloration of the gel, is achieved by using only low amounts of crosslinker. This macroscopic actuation achieved by anion binding to specific molecular entities in the polymer network will open new opportunities in the field of chemically responsive materials.

Bioresorbable Bilayered Elastomer/Hydrogel Constructs with Gradual Interfaces for the Fast Actuation of Self-Rolling Tubes

In the biomedical field, self-rolling materials provide interesting opportunities to develop medical devices suitable for drug or cell encapsulation. However, to date, a major limitation for medical applications is the use of non-biodegradable and non-biocompatible polymers that are often reported for such applications or the slow actuation witnessed with degradable systems. In this work, biodegradable self-rolling tubes that exhibit a spontaneous and rapid actuation when immersed in water are designed. Photo-crosslinkable hydrophilic and hydrophobic poly(ethylene glycol)-poly(lactide) (PEG-PLA) star-shaped copolymers are prepared and used to prepare bilayered constructs. Thanks to the discrete mechanical and swelling properties of each layer and the cohesive/gradual nature of the interface, the resulting bilayered films are able to self-roll in water in less than 30 s depending on the nature of the hydrophilic layer and on the shape of the sample. The cytocompatibility and degradability of the materials are demonstrated and confirm the potential of such self-rolling resorbable biomaterials in the field of temporary medical devices.

Jammed Microgel-Based Inks for 3D Printing of Complex Structures Transformable via pH/Temperature Variations

Structure changes mediated by anisotropic volume changes of stimuli-responsive hydrogels are useful for many research fields, yet relatively simple structured objects are mostly used due to limitation in fabrication methods. To fabricate complex 3 dimensional (3D) structures that undergo structure changes in response to external stimuli, jammed microgel-based inks containing precursors of stimuli-responsive hydrogels are developed for extrusion-based 3D printing. Specifically, the jammed microgel-based inks are prepared by absorbing precursors of poly(acrylic acid) or poly(N-isopropylacrylamide) in poly(acrylamide) (PAAm) microgels, and jamming them. The inks exhibit shear-thinning and self-healing properties that allow extrusion of the inks through a nozzle and rapid stabilization after printing. Stimuli-mediated volume changes are observed for the extruded structures when they are post-crosslinked by UV light to form interpenetrating networks of PAAm microgels and stimuli-responsive hydrogels. Using this method, a dumbbell-shaped object that can transform to a biconvex shape, and a gripper that can grasp and lift an object in response to stimuli are 3D-printed. The jammed microgel-based 3D printing strategy is a versatile method useful for variety of applications as diverse types of monomers absorbable in the microgels can be used to fabricate complex 3D objects transformable by external stimuli.

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.

Fracture Toughness and Blocking Force of Temperature-Sensitive PolyNIPAAm and Alginate Hybrid Gels

In the field of actuator materials, hydrogels that undergo large volume changes in response to external stimuli have been developed for a variety of promising applications. However, most conventional hydrogels are brittle and therefore rupture when they are stretched to moderate strains (~50%). Thus, gels to be used for actuators still require improved mechanical properties and actuation performance. In this study, we synthesized a tough and thermo-sensitive hydrogel with a large actuation force by forming interpenetrating networks between covalently crosslinked poly(N-isopropylacrylamide) and ionically crosslinked alginate. Poly(N-isopropylacrylamide) was used as a thermo-sensitive actuation material, and alginate was found to enhance the mechanical properties of the hydrogels. Due to the enhanced elastic modulus and energy dissipation in the hybrid gel, the toughness was increased by a factor of 60 over that of pure PNIPAAm gel. Further, based on the results showing that the hybrid gel exhibits an actuation force that is seven times higher than that of pure PNIPAAm gel, the hybrid gel is more applicable to real actuators.

A Humidity-Powered Soft Robot with Fast Rolling Locomotion

A range of soft robotic systems have recently been developed that use soft, flexible materials and respond to environmental stimulus. The greatest challenge in their design is the integration of the actuator, energy sources, and body of robots while achieving fast locomotion and well-defined programmable trajectories. This work presents such a design that operates under constant conditions without the need for an externally modulated stimulus. By using a humidity-sensitive agarose film and overcoming the isotropic and random bending of the film, the robot, which we call the Hydrollbot, harnesses energy from evaporation for spontaneous and continuous fast self-rolling locomotion with a programmable trajectory in a constant-humidity environment. Moreover, the geometric parameters of the film were fine-tuned to maximize the rolling speed, and the optimised hydrollbot is capable of carrying a payload up to 100% of its own weight. The ability to self-propel fast under constant conditions with programmable trajectories will confer practical advantages to this robot in the applications for sensors, medical robots, actuation, etc.

Actuation of Hydrogel Architectures Prepared by Electrophoretic Adhesion of Thermoresponsive Microgels

Owing to their unique properties, hydrogels may be used for preparing soft actuators. Soft actuators are expected to respond quickly; however, the response speed of gels is slow. To study this issue and overcome it, thermoresponsive soft actuators were prepared by the electrophoretic adhesion of cationic and anionic thermoresponsive microgels, comprising poly(diallyldimethylammonium chloride) and poly(styrenesulfonate) sodium salt, respectively. The kinetics of the prepared hydrogel architectures in response to temperature depended on the microgel diameter instead of the architecture size. We also prepared bilayered hydrogel architectures by adhesion of thermoresponsive and/or nonthermoresponsive microgels. These bent rapidly in response to temperature because these architectures consisted of microgel assemblies. In addition, specific bending motion was demonstrated by the adhesion of microgel layers of different sizes. The present study provides not only a guideline for the design of hydrogel actuators with quick response but also presents a method for the free-form fabrication of functional hydrogel materials that undergo complex motions in response to stimuli.

Spatiotemporal Regulation of Hydrogel Actuators by Autocatalytic Reaction Networks

Regulating hydrogel actuators with chemical reaction networks is instrumental for constructing life-inspired smart materials. Herein, hydrogel actuators are engineered that are regulated by the autocatalytic front of thiols. The actuators consist of two layers. The first layer, which is regular polyacrylamide hydrogel, is in a strained conformation. The second layer, which is polyacrylamide hydrogel with disulfide crosslinks, maintains strain in the first layer. When thiols released by the autocatalytic front reduce disulfide crosslinks, the hydrogel actuates by releasing the mechanical strain in the first layer. The autocatalytic front is sustained by the reaction network, which uses thiouronium salts, disulfides of β-aminothiols, and maleimide as starting components. The gradual actuation by the autocatalytic front enables movements such as gradual unrolling, screwing, and sequential closing of "fingers." This actuation also allows the transmission of chemical signals in a relay fashion and the conversion of a chemical signal to an electrical signal. Locations and times of spontaneous initiation of autocatalytic fronts can be preprogrammed in the spatial distribution of the reactants in the hydrogel. To approach the functionality of living matter, the actuators triggered by an autocatalytic front can be integrated into smart materials regulated by chemical circuits.

Reversible Protein Capture and Release by Redox-Responsive Hydrogel in Microfluidics

Stimuli-responsive hydrogels have a wide range of potential applications in microfluidics, which has drawn great attention. Double cross-linked hydrogels are very well suited for this application as they offer both stability and the required responsive behavior. Here, we report the integration of poly(N-isopropylacrylamide) (PNiPAAm) hydrogel with a permanent cross-linker (N,N'-methylenebisacrylamide, BIS) and a redox responsive reversible cross-linker (N,N'-bis(acryloyl)cystamine, BAC) into a microfluidic device through photopolymerization. Cleavage and re-formation of disulfide bonds introduced by BAC changed the cross-linking densities of the hydrogel dots, making them swell or shrink. Rheological measurements allowed for selecting hydrogels that withstand long-term shear forces present in microfluidic devices under continuous flow. Once implemented, the thiol-disulfide exchange allowed the hydrogel dots to successfully capture and release the protein bovine serum albumin (BSA). BSA was labeled with rhodamine B and functionalized with 2-(2-pyridyldithio)-ethylamine (PDA) to introduce disulfide bonds. The reversible capture and release of the protein reached an efficiency of 83.6% in release rate and could be repeated over 3 cycles within the microfluidic device. These results demonstrate that our redox-responsive hydrogel dots enable the dynamic capture and release of various different functionalized (macro)molecules (e.g., proteins and drugs) and have a great potential to be integrated into a lab-on-a-chip device for detection and/or delivery.

Research progress of smart response composite hydrogels based on nanocellulose

In recent years, smart-responsive nanocellulose composite hydrogels have attracted extensive attention due to their unique porous substrate, hydrophilic properties, biocompatibility and stimulus responsiveness. At present, the research on smart response nanocellulose composite hydrogel mainly focuses on the selection of composite materials and the construction of internal chemical bonds. The common composite materials and connection methods used for preparation of smart response nanocellulose composite hydrogels are compared according to the different types of response sources such as temperature, pH and so on. The response mechanisms and the application prospects of different response types of nanocellulose composite hydrogels are summarized, and the transformation of internal ions, functional groups and chemical bonds, as well as the changes in mechanical properties such as modulus and strength are discussed. Finally, the shortcomings and application prospects of nanocellulose smart response composite hydrogels are summarized and prospected.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Bigels as drug delivery systems: From their components to their applications

Bigels are systems that usually result from mixing a hydrogel and an organogel: the aqueous phase is commonly formed by a hydrophilic biopolymer, whereas the organic phase comprises a gelled vegetable oil because of the presence of an organogelator. The proportion of the corresponding gelling agent in each phase, the organogel/hydrogel ratio, and the mixing temperature and speed all need to be taken into consideration for bigel manufacturing. Bigels, which are particularly useful drug delivery systems, have already been formulated for transdermal, buccal, and vaginal routes. Mechanical assessments and microscopy are the most reported characterization techniques. As we review here, their composition and unique structure confer promising drug delivery attributes, such as mucoadhesion, the ability to control drug release, and the possibility of including both hydrophilic and lipophilic drugs in the same system.

Multi-responsive PNIPAM-PEGDA hydrogel composite

Hydrogels are widely used in applications such as soft robots and flexible sensors due to their sensitivity to environmental stimuli. It is highly demanded to develop multiple-responsive hydrogel structures. In this work, we employ the 3D printing technique to fabricate a PNIPAM-PEGDA hydrogel bilayer that can change shape through controlling the temperature, solvent mixture and magnetic field. The PNIPAM gel is a typical thermo-responsive gel, showing a decrease in swelling ratio with increasing temperature. Meanwhile, the PNIPAM gels also exhibit the cononsolvency effect in ethanol-water mixtures with a smaller swelling ratio in the mixture compared with that in each pure solvent. In comparison, the swelling ratio of PEGDA gels is insensitive to changes in both the temperature and solvent composition. Thus, the bilayer structure of PNIPAM-PEGDA can bend in different directions and with different angles with changing the temperature and solvent composition. Finally, Fe₃O₄ nanoparticles are incorporated into the matrix of PEGDA gels, endowing the whole structure with deformation and motion in response to an external magnetic field.

Aggregation-Induced Emission-Active Gels: Fabrications, Functions, and Applications

Chromophores that exhibit aggregation-induced emission (i.e., aggregation-induced emission luminogens [AIEgens]) emit intense fluorescence in their aggregated states, but show negligible emission as discrete molecular species in solution due to the changes in restriction and freedom of intramolecular motions. As solvent-swollen quasi-solids with both a compact phase and a free space, gels enable manipulation of intramolecular motions. Thus, AIE-active gels have attracted significant interest owing to their various distinctive properties and promising application potential. Herein, a comprehensive overview of AIE-active gels is provided. The fabrication strategies employed are detailed, and the applications of AIEgens are summarized. In addition, the gel functions arising from the AIE moieties are revealed, along with their structure-property relationships. Furthermore, the applications of AIE-active gels in diverse areas are illustrated. Finally, ongoing challenges and potential means to address them are discussed, along with future perspectives on AIE-active gels, with the overall aim of inspiring research on novel materials and ideas.

Stimuli-responsive surfaces for switchable wettability and adhesion

Diverse unique surfaces exist in nature, e.g. lotus leaf, rose petal and rice leaf. They show similar contact angles but different adhesion properties. According to the different wettability and adhesion characteristics, this review reclassifies different contact states of droplets on surfaces. Inspired by the biological surfaces, smart artificial surfaces have been developed which respond to external stimuli and consequently switch between different states. Responsive surfaces driven by various stimuli, e.g. stretching, magnetic, photo, electric, temperature, humidity and pH, are discussed. Studies reporting on either atmospheric or underwater environments are discussed. The application of tailoring surface wettability and adhesion includes microfluidics/droplet manipulation, liquid transport and harvesting, water energy harvesting and flexible smart devices. Particular attention is placed on the horizontal comparison of smart surfaces with the same stimuli. Finally, the current challenges and future prospects in this field are also identified.

Bioresponsive supramolecular hydrogels for hemostasis, infection control and accelerated dermal wound healing

Injectable, drug-releasing hydrogel scaffolds with multifunctional properties including hemostasis and anti-bacterial activity are essential for successful wound healing; however, designing ideal materials is still challenging. Herein, we demonstrate the fabrication of a biodegradable, temperature-pH dual responsive supramolecular hydrogel (SHG) scaffold based on sodium alginate/poly(N-vinyl caprolactam) (AG/PVCL) through free radical polymerization and the subsequent chemical and ionic cross-linking. A natural therapeutic molecule, tannic acid (TA)-incorporated SHG (AG/PVCL-TA), was also fabricated and its hemostatic and wound healing efficiency were studied. In the AG/PVCL-TA system, TA acts as a therapeutic molecule and also substitutes as an effective gelation binder. Notably, the polyphenol-arm structure and diverse bonding abilities of TA can hold polymer chains through multiple bonding and co-ordinate cross-linking, which were vital in the formation of the mechanically robust AG/PVCL-TA. The SHG formation was successfully balanced by varying the composition of SA, VCL, TA and cross-linkers. The AG/PVCL-TA scaffold was capable of releasing a therapeutic dose of TA in a sustained manner under physiological temperature-pH conditions. AG/PVCL-TA displayed excellent free radical scavenging, anti-inflammatory, anti-bacterial, and cell proliferation activity towards the 3T3 fibroblast cell line. The wound healing performance of AG/PVCL-TA was further confirmed in skin excision wound models, which demonstrated the potential application of AG/PVCL-TA for skin regeneration and rapid wound healing.

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.

Monolithic Three-Dimensional Functionally Graded Hydrogels for Bioinspired Soft Robots Fabrication

Bioinspired soft robotics aims at reproducing the complex hierarchy and architecture of biological tissues within artificial systems to achieve the typical motility and adaptability of living organisms. The development of suitable fabrication approaches to produce monolithic bodies provided with embedded variable morphological and mechanical properties, typically encountered in nature, is still a technological challenge. Here we report on a novel manufacturing approach to produce three-dimensional functionally graded hydrogels (3D-FGHs) provided with a controlled porosity gradient conferring them variable stiffness. 3D-FGHs are fabricated by means of a custom-designed liquid foam templating (LFT) technique, which relies on the inclusion of air bubbles generated by a blowing agent into the monomer-based template solution during ultraviolet-induced photopolymerization. The 3D-FGHs' apparent Young's modulus ranges from 0.37 MPa (bulky hydrogel region) to 0.09 MPa (highest porosity region). A fish-shaped soft swimmer is fabricated to demonstrate the feasibility of the LFT technique to produce bioinspired robots. Mobility tests show a significant improvement in terms of swimming speed when the robot is provided with a graded body. The proposed manufacturing approach constitutes an enabling solution for the development of macroscopic functionally graded hydrogel-based structures usable in biomimetic underwater soft robotics applications.

Performing calculus: Asymmetric adaptive stimuli-responsive material for derivative control

Materials (e.g., brick or wood) are generally perceived as unintelligent. Even the highly researched "smart" materials are only capable of extremely primitive analytical functions (e.g., simple logical operations). Here, a material is shown to have the ability to perform (i.e., without a computer), an advanced mathematical operation in calculus: the temporal derivative. It consists of a stimuli-responsive material coated asymmetrically with an adaptive impermeable layer. Its ability to analyze the derivative is shown by experiments, numerical modeling, and theory (i.e., scaling between derivative and response). This class of freestanding stimuli-responsive materials is demonstrated to serve effectively as a derivative controller for controlled delivery and self-regulation. Its fast response realizes the same designed functionality and efficiency as complex industrial derivative controllers widely used in manufacturing. These results illustrate the possibility to associate specifically designed materials directly with higher concepts of mathematics for the development of "intelligent" material-based systems.

Solvent Sorption-Induced Actuation of Composites Based on a Polymer of Intrinsic Microporosity

Materials that are capable of actuation in response to a variety of external stimuli are of significant interest for applications in sensors, soft robotics, and biomedical devices. Here, we present a class of actuators using composites based on a polymer of intrinsic microporosity (PIM). By adding an activated carbon (AX21) filler to a PIM, the composite exhibits repeatable actuation upon solvent evaporation and wetting and it is possible to achieve highly controlled three-dimensional actuation. Curled composite actuators are shown to open upon exposure to a solvent and close as a result of solvent evaporation. The degree of curling and actuation is controlled by adjusting the amount of filler and evaporation rate of the solvent casting process, while the actuation speed is controlled by adjusting the type of solvent. The range of forces and actuation speed produced by the composite is demonstrated using acetone, ethanol, and dimethyl sulfoxide as the solvent. The maximum contractile stress produced upon solvent desorption in the pure PIM polymer reached 12 MPa, with an ultimate force over 20 000 times the weight of a sample. This form of the composite actuator is insensitive to humidity and water, which makes it applicable in an aqueous environment, and can survive a wide range of temperatures. These characteristics make it a promising actuator for the diverse range of operating conditions in robotic and medical applications. The mechanism of actuation is discussed, which is based on the asymmetric distribution of the carbon filler particles that leads to a bilayer structure and the individual layers expand and contract differently in response to solvent wetting and evaporation, respectively. Finally, we demonstrate the application of the actuator as a potential drug delivery vehicle, with capacity for encapsulating two kinds of drugs and reduced drug leakage in comparison to existing technologies.

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.

Programmable Deformations of Biomimetic Composite Hydrogels Embedded with Printed Fibers

Shape deformations are prevalent in nature, which are closely related to the heterogeneous structures with a feature of fibrous elements embedded in a matrix. The microfibers with specific orientations act as either passive geometrical constraints in an active matrix or active elements in a passive matrix, which generate programmed internal stresses and drive shape morphing under external stimuli. Morphing materials can be designed in a biomimetic way, yet it is challenging to fabricate composite hydrogels with well-distributed fibers by a facile strategy. Here, we demonstrate the fabrication of microfiber-embedded hydrogels facilitated by the extrusion-based printing technology. Programmed deformations are achieved in these hydrogels with microfibers distributed in the upper and/or bottom layers of the gel matrix. Under external stimuli, the microfibers and the gel matrix have different responses that produce internal stresses and result in programmable deformations of the composite gel. Multiple shape transformations are realized in the hydrogel by embedding multiple types of responsive microfibers in the passive or active matrix, which is fabricated with the assistance of multinozzle printing. A soft hook is designed to show the capacity of the composite hydrogel to hold and move an object in a saline solution. This facile and versatile strategy provides an alternative way to prepare biomimetic hydrogels with potential applications in biomedical devices, flexible electronics, and soft robots.

Advances in Stimuli-Responsive Soft Robots with Integrated Hybrid Materials

Hybrid stimuli-responsive soft robots have been extensively developed by incorporating multi-functional materials, such as carbon-based nanoparticles, nanowires, low-dimensional materials, and liquid crystals. In addition to the general functions of conventional soft robots, hybrid stimuli-responsive soft robots have displayed significantly advanced multi-mechanical, electrical, or/and optical properties accompanied with smart shape transformation in response to external stimuli, such as heat, light, and even biomaterials. This review surveys the current enhanced scientific methods to synthesize the integration of multi-functional materials within stimuli-responsive soft robots. Furthermore, this review focuses on the applications of hybrid stimuli-responsive soft robots in the forms of actuators and sensors that display multi-responsive and highly sensitive properties. Finally, it highlights the current challenges of stimuli-responsive soft robots and suggests perspectives on future directions for achieving intelligent hybrid stimuli-responsive soft robots applicable in real environments.

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.

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.

Mechanically Strong, Tough, and Shape Deformable Poly(acrylamide-co-vinylimidazole) Hydrogels Based on Cu2+ Complexation

Shape deformable hydrogels have drawn great attention due to their wide applications as soft actuators. Here we report a novel kind of mechanically strong, tough, and shape deformable poly(acrylamide-co-vinylimidazole) [poly(AAm-co-VI)] hydrogel prepared by photoinitiated copolymerization and the followed immersing in a Cu²⁺ aqueous solution. Strong Cu²⁺ complexation with imidazole groups dramatically enhances the mechanical properties of the hydrogels, whose tensile strength, elastic modulus, toughness, and fracture energy reach up to 7.7 ± 0.76 MPa, 15.4 ± 1.2 MPa, 23.2 ± 2.5 MJ m^-3, and 22.1 ± 2.3 kJ m^-2, respectively. More impressively, shape deformation (bending) can be easily achieved by coating Cu²⁺ solution on one side of hydrogel strips. Furthermore, precise control of the shape deformation from 1D to 2D and 2D to 3D can be achieved by adjusting Cu²⁺ concentration, coating time, region, and one or two side(s) of hydrogel samples. The Cu²⁺ complexation provides a simple way to simultaneously improve the mechanical properties of hydrogels and enable them with shape deformability. The mechanically strong, tough, and shape deformable hydrogels might be a promising candidate for soft actuators.

Electrical Writing to Three-Dimensional Pattern Dynamic Polysaccharide Hydrogel for Programmable Shape Deformation

The ability to pattern and actuate hydrogels is essential for biomimetics, soft robotics, and biosensors. Here an electrical writing technique with the capability to create both surface and across thickness patterns in dynamic chitosan-H⁺ /agarose hydrogel by electronically generated pH gradient is introduced. The diffusible pH cues deprotonate and re-assemble chitosan chains by hydrogen bonds, changing the electrical writing domains from original loose structure to a dense layer and resulting in different mechanical stress and swell ability that causes the hydrogel to deform. The deformable trend can be modulated by writing depth and selective writing area on the surface, and significantly enhanced by temperature increment. Finally, a dual electrical writing process to create three-dimensional patterns and demonstrate programmable shape transition by differing patterns is performed.

Ti3C2Tx MXene-Based Light-Responsive Hydrogel Composite for Bendable Bilayer Photoactuator

Soft actuators based on hydrogel materials, which can convert light energy directly into mechanical energy, are of the utmost importance, especially with enhancements in device development. However, the hunt for specific photothermal nanomaterials with distinct performance remains challenging. In this study, we successfully fabricated a bilayer hydrogel actuator consisting of an active photothermal layer from incorporated Ti₃C₂T_x MXene in poly(N-isopropylacrylamide) p(NIPAm)hydrogel structure and a passive layer from the N-(2-hydroxylethylpropyl)acrylamide (HEAA) hydrogel structure. The uniform and effective incorporation of MXene into the NIPAm hydrogel structures were characterized by a battery of techniques. The light responsive swelling properties of the MXene-embedded NIPAm-based hydrogel demonstrated fully reversible and repeatable behavior in the light on–off regime for up to ten consecutive cycles. The effect of MXene loading, the shape of the actuator, and the light source effects on the bilayer NIPAm-HEAA hydrogel structure were investigated. The bilayer hydrogel with MXene loading of 0.3% in the NIPAm hydrogel exhibited a 200% change of the bending angle in terms of its bidirectional shape/volume after 100 s exposure to white light at an intensity of 70 mW cm⁻². Additionally, the bending behavior under real sunlight was evaluated, showing the material’s potential applicability in practical environments.

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.