Photochemically Induced Propulsion of a 4D Printed Liquid Crystal Elastomer Biomimetic Swimmer

Underwater organisms exhibit sophisticated propulsion mechanisms, enabling them to navigate fluid environments with exceptional dexterity. Recently, substantial efforts have focused on integrating these movements into soft robots using smart shape-changing materials, particularly by using light for their propulsion and control. Nonetheless, challenges persist, including slow response times and the need of powerful light beams to actuate the robot. This last can result in unintended sample heating and potentially necessitate tracking specific actuation spots on the swimmer. To tackle these challenges, new azobenzene-containing photopolymerizable inks are introduced, which can be processed by extrusion printing into liquid crystalline elastomer (LCE) elements of precise shape and morphology. These LCEs exhibit rapid and significant photomechanical response underwater, driven by moderate-intensity ultraviolet (UV) and green light, being the actuation mechanism predominantly photochemical. Inspired by nature, a biomimetic four-lapped ephyra-like LCE swimmer is printed. The periodically illumination of the entire swimmer with moderate-intensity UV and green light, induces synchronous lappet bending toward the light source and swimmer propulsion away from the light. The platform eliminates the need of localized laser beams and tracking systems to monitor the swimmer's motion through the fluid, making it a versatile tool for creating light-fueled robotic LCE free-swimmers.

A Multimodal Self-Propelling Tensegrity Structure

Tensegrity structure is composed of tensile cables and compressive rods, offering high stiffness-to-mass ratio, deploy ability, and excellent energy damping capability. The active and dynamic tensegrity designs demonstrate great potential for soft robots. In previous designs, the movement has relied on carefully controlled input power or manually controlled light irradiation, limiting their potential applications. Here, a hybrid tensegrity structure (HTS) is constructed by integrating thermally responsive cables, nonresponsive cables, and stiff rods. The HTS can self-propel continuously on a hot surface due to its unique geometry. The HTS allows for the easy achievement of multimodal self-propelled locomotive modes, which has been challenging for previously demonstrated self-propelling structures. Additionally, using Velcro tapes to adhere the rods and cables together, a modulable and reassemblable HTS is created. The HTS introduced in this study presents a new strategy and offers a large design space for constructing self-propelling and modulable robots.

Rotini-like MXene@LCE Actuator with Diverse and Programmable Actuation Based on Dual-mode Synergy

Liquid crystalline elastomer (LCE) exhibits muscle-like actuation upon order-disturbed stimulus, offering ample room for designing soft robotic systems. Multimodal LCE is demonstrated to unleash the potential to perform multitasks. However, each actuation mode is typically isolated. In contrast, coordination between different actuation modes based on an MXene-doped LCE is realized, whose actuation can be triggered either by directly heating/cooling or using near-infrared light due to the photo-thermal effect of MXene. As such, the two activation modes (heat and light) not only can work individually to offer stable actuation under different conditions but also can collaborate synergistically to generate more intelligent motions, such as achieving the brake and turn of an autonomous rolling. The principle therefore can diversify the design principles for multifunctional soft actuators and robotics.

4D Printed Non-Euclidean-Plate Jellyfish Inspired Soft Robot in Diverse Organic Solvents

Soft robots have the potential to assist and complement human exploration of extreme and harsh environments (i.e., organic solvents). However, soft robots with stable performance in diverse organic solvents are not developed yet. In the current research, a non-Euclidean-plate under-liquid soft robot inspired by jellyfish based on phototropic liquid crystal elastomers is fabricated via a 4D-programmable strategy. Specifically, the robot employs a 3D-printed non-Euclidean-plate, designed with Archimedean orientation, which undergoes autonomous deformation to release internal stress when immersed in organic solvents. With the assistance of near-infrared light illumination, the organic solvent inside the robot vaporizes and generates propulsion in the form of bubble streams. The developed NEP-Jelly-inspired soft robot can swim with a high degree of freedom in various organic solvents, for example, N, N-dimethylformamide, N, N-dimethylacetamide, tetrahydrofuran, dichloromethane, and trichloromethane, which is not reported before. Besides bionic jellyfish, various aquatic invertebrate-inspired soft robots can potentially be prepared via a similar 4D-programmable strategy.

A Molecular Rheology Dynamics Study on 3D Printing of Liquid Crystal Elastomers

This work presents a rheological study of a biocompatible and biodegradable liquid crystal elastomer (LCE) ink for three dimensional (3D) printing. These materials have shown that their structural variations have an effect on morphology, mechanical properties, alignment, and their impact on cell response. Within the last decade LCEs are extensively studied as potential printing materials for soft robotics applications, due to the actuation properties that are produced when liquid crystal (LC) moieties are induced through external stimuli. This report utilizes experiments and coarse-grained molecular dynamics to study the macroscopic rheology of LCEs in nonlinear shear flow. Results from the shear flow simulations are in line with the outcomes of these experimental investigations. This work believes the insights from these results can be used to design and print new material with desirable properties necessary for targeted applications.

Fabrication and Photothermal Actuation Performances of Electrospun Carbon Nanotube/Liquid Crystal Elastomer Blend Yarn Actuators

Liquid crystal elastomers (LCEs) are a kind of polymer network that combines the entropic elasticity of polymer networks and the mesogenic unit by means of mild cross-linking. LCEs have been extensively investigated in various fields, including artificial muscles, actuators, and microrobots. However, LCEs are characterized by the poor mechanical properties of the light polymers themselves. In this study, we propose to prepare a carbon nanotube/liquid crystal elastomer (CNT/LCE) composite yarn by electrospinning technology and a two-step cross-linking strategy. The CNT/LCE composite yarn exhibits a reversible shrinkage ratio of nearly 70%, a tensile strength of 16.45 MPa, and a relatively sensitive response speed of ∼3 s, enabling a fast response by photothermal actuation. The research disclosed in this article may provide new insights for the development of artificial muscles and next-generation smart robots.

Liquid Crystal Elastomer Artificial Tendrils with Asymmetric Core-Sheath Structure Showing Evolutionary Biomimetic Locomotion

The sophisticated and complex haptonastic movements in response to environmental-stimuli of living organisms have always fascinated scientists. However, how to fundamentally mimic the sophisticated hierarchical architectures of living organisms to provide the artificial counterparts with similar or even beyond-natural functions based on the underlying mechanism remains a major scientific challenge. Here,  liquid crystal elastomer (LCE) artificial tendrils showing evolutionary biomimetic locomotion are developed following the structure-function principle that is used in nature to grow climbing plants. These elaborately designed tendril-like LCE actuators possess an asymmetric core-sheath architecture which shows a higher-to-lower transition in the degree of LC orientation from the sheath-to-core layer across the semi-ellipse cross-section. Upon heating and cooling, the LCE artificial tendril can undergo reversible tendril-like shape-morphing behaviors, such as helical coiling/winding, and perversion. The fundamental mechanism of the helical shape-morphing of the artificial tendril is revealed by using theoretical models and finite element simulations. Besides, the incorporation of metal-ligand coordination into the LCE network provides the artificial tendril with reconfigurable shape-morphing performances such as helical transitions and rotational deformations. Finally, the abilities of helical and rotational deformations are integrated into a new reprogrammed flagellum-like architecture to perform evolutionary locomotion mimicking the haptonastic movements of the natural flagellum.

Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators

As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 k J ∕ m 3 . We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.

Defected twisted ring topology for autonomous periodic flip-spin-orbit soft robot

Periodic spin-orbit motion is ubiquitous in nature, observed from electrons orbiting nuclei to spinning planets orbiting the Sun. Achieving autonomous periodic orbiting motions, along circular and noncircular paths, in soft mobile robotics is crucial for adaptive and intelligent exploration of unknown environments-a grand challenge yet to be accomplished. Here, we report leveraging a closed-loop twisted ring topology with a defect for an autonomous soft robot capable of achieving periodic spin-orbiting motions with programmed circular and re-programmed irregular-shaped trajectories. Constructed by bonding a twisted liquid crystal elastomer ribbon into a closed-loop ring topology, the robot exhibits three coupled periodic self-motions in response to constant temperature or constant light sources: inside-out flipping, self-spinning around the ring center, and self-orbiting around a point outside the ring. The coupled spinning and orbiting motions share the same direction and period. The spinning or orbiting direction depends on the twisting chirality, while the orbital radius and period are determined by the twisted ring geometry and thermal actuation. The flip-spin and orbiting motions arise from the twisted ring topology and a bonding site defect that breaks the force symmetry, respectively. By utilizing the twisting-encoded autonomous flip-spin-orbit motions, we showcase the robot's potential for intelligently mapping the geometric boundaries of unknown confined spaces, including convex shapes like circles, squares, triangles, and pentagons and concaves shapes with multi-robots, as well as health monitoring of unknown confined spaces with boundary damages.

Liquid Crystal Elastomer Lattices with Thermally Programmable Deformation via Multi-Material 3D Printing

An integrated design, modeling, and multi-material 3D printing platform for fabricating liquid crystal elastomer (LCE) lattices in both homogeneous and heterogeneous layouts with spatially programmable nematic director order and local composition is reported. Depending on their compositional topology, these lattices exhibit different reversible shape-morphing transformations upon cycling above and below their respective nematic-to-isotropic transition temperatures. Further, it is shown that there is good agreement between their experimentally observed deformation response and model predictions for all LCE lattice designs evaluated. Lastly, an inverse design model is established and the ability to print LCE lattices with the predicted deformation behavior is demonstrated. This work opens new avenues for creating architected LCE lattices that may find potential application in energy-dissipating structures, microfluidic pumping, mechanical logic, and soft robotics.

Free-Form Liquid Crystal Elastomers via Embedded 4D Printing

Liquid crystal elastomers (LCEs) are a class of active materials that can generate rapid, reversible mechanical actuation in response to external stimuli. Fabrication methods for LCEs have remained a topic of intense research interest in recent years. One promising approach, termed 4D printing, combines the advantages of 3D printing with responsive materials, such as LCEs, to generate smart structures that not only possess user-defined static shapes but also can change their shape over time. To date, 4D-printed LCE structures have been limited to flat objects, restricting shape complexity and associated actuation for smart structure applications. In this work, we report the development of embedded 4D printing to extrude hydrophobic LCE ink into an aqueous, thixotropic gel matrix to produce free-standing, free-form 3D architectures without sacrificing the mechanical actuation properties. The ability to 4D print complex, free-standing 3D LCE architectures opens new avenues for the design and development of functional and responsive systems, such as reconfigurable metamaterials, soft robotics, or biomedical devices.

Self-Rotation of Electrothermally Responsive Liquid Crystal Elastomer-Based Turntable in Steady-State Circuits

Self-excited motions, characterized by their ability to harness energy from a consistent environment and self-regulate, exhibit significant potential in micro-devices, autonomous robotics, sensor technology, and energy generation. This study introduces an innovative turntable system based on an electrothermally responsive liquid crystal elastomer (LCE). This system facilitates self-rotation within a steady-state circuit. Employing an electrothermal LCE model, we have modeled and numerically analyzed the nonlinear dynamics of an LCE-rope within steady-state circuits, utilizing the four-order Runge-Kutta method for calculations. The numerical results reveal the emergence of two distinct motion patterns in the turntable system under steady-state conditions: a self-rotation pattern and a static pattern. The self-rotation is initiated when the system's absorbed energy surpasses the energy lost due to damping effects. Furthermore, this paper delves into the critical conditions necessary for initiating self-rotation and examines the influence of various key dimensionless parameters on the system's rotation amplitude and frequency. These parameters include gravitational acceleration, the initial position of the mass ball, elastic stiffness of the LCE and spring, limiting temperature, heating zone angle, thermal shrinkage coefficient, and damping factor. Our computational findings establish that these parameters exert a modulatory impact on the rotation amplitude and period. This research enhances the understanding of self-excited motions and offers promising avenues for applications in energy harvesting, monitoring, soft robotics, medical devices, and micro- and nano-devices.

A 3D-Printed Ferromagnetic Liquid Crystal Elastomer with Programmed Dual-Anisotropy and Multi-Responsiveness

Liquid crystal elastomers (LCE) and magnetic soft materials are promising active materials in many emerging fields, such as soft robotics. Despite the high demand for developing active materials that combine the advantages of LCE and magnetic actuation, the lack of independent programming of the LCE nematic order and magnetization in a single material still hinders the desired multi-responsiveness. In this study, a ferromagnetic LCE (magLCE) ink with nematic order and magnetization is developed that can be independently programmed to be anisotropic, referred to as "dual anisotropy", via a customized 3D-printing platform. The magLCE ink is fabricated by dispersing ferromagnetic microparticles in the LCE matrix, and a 3D-printing platform is created by integrating a magnet with 3-DoF motion into an extrusion-based 3D printer. In addition to magnetic fields, magLCEs can also be actuated by heating sources (either environmental heating or photo-heating of the embedded ferromagnetic microparticles) with a high energy density and tunable actuation temperature. A programmed magLCE strip robot is demonstrated with enhanced adaptability to complex environments (different terrains, magnetic fields, and temperatures) using a multi-actuation strategy. The magLCE also has potential applications in mechanical memory, as demonstrated by the multistable mechanical metastructure array with remote writability and stable memory.

The Synergistic Effects between Liquid Crystal and Crystalline Phase on Photo-Responsive Elastomers toward Quick Photo-Responsive Performance

Adopting only a small amount of azobenzene molecular to design liquid crystal photo-responsive materials capable of quick response and flexible adjustability is in high demand but is challenging. Herein, azobenzenemolecules into polyurethane elastomer containing crystalline structure for preparing azobenzene liquid-crystal elastomers (ALCEs) are demonstrated and this phenomenon of the synergistic effects between liquid crystal and crystalline phase is discovered. The key point of the work is that the synthetic ALCEs can utilize the reversible isomerism capability of azobenzene molecules under light irradiation, which can pry the motion of the macromolecular crystalline region in system to realize the large macroscopic deformation of the photo-responsive behavior. Obviously, the ALCEs sample containing azobenzene molecule and polyethylene glycol crystallization can quickly bend, illuminated by ultraviolet light and rapidly straighten under green light. Under the same ultraviolet irradiation, the bending speed, final bending angle, recovery rate and recovery ratio of ALCEs are larger than that of ALCEs without any crystalline structure. This ALCEs based on the synergistic effects between liquid crystal and crystalline phase can break through the current dilemma that the application of traditional azobenzene photo-responsive materials is limited by their concentration, greatly expanding the design thought and their scope of application.

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.

Tough and Photo-Plastic Liquid Crystal Elastomer with a 2-Fold Dynamic Linker for Artificial Muscles

Liquid crystal elastomers (LCEs) have been optimized by combining cross-linkers and dynamic bonds to achieve a reversible actuation behavior comparable to living skeletal muscles. In this study, one unique type of segment with 2-fold dynamic properties was introduced into LCEs, which offered not only dynamic diselenide covalent bonds for thermo-/photoplasticity but also H-bond arrays for dynamic cross-linking and mechanical robustness. Besides self-healing, self-welding, and recyclability, the LCEs were reprogrammable with elevated temperature or intensive visible light irradiation. The resultant LCEs gave an actuation blocking stress of 1.96 MPa and an elastic modulus of 14.4 MPa at 80 °C. The actuation work capacity reached 135.2 kJ m-3. When incorporating the Joule electrode or photothermal materials, the LCEs could be programmed as the electricity-driven and photothermal artificial muscles and thereby promised the application both as a biomimetic artificial hand and as an energy collector from sunlight. Thus, the 2-fold dynamic LCEs offered the pathway of enabling the reversible actuation behavior comparable to living skeletal muscles and promising applications in sustainable actuators, artificial muscles, and soft robots.

Additive Manufacturing of Liquid Crystal Elastomer Actuators Based on Knitting Technology

Liquid crystal elastomer (LCE) exhibits large and reversible deformability originating from the alignment of liquid crystal mesogens. Additive manufacturing provides high controllability in the alignment and shaping process of LCE actuators. However, it still remains a challenge to customize LCE actuators with both diverse 3D deformability and recyclability. In this study, a new strategy is developed to exploit knitting technique to additively manufacture LCE actuators. The obtained LCE actuators are fabric-structured with designed geometry and deformability. By accurately adjusting the parameters of the knitting patterns as modules, diverse geometry is pixel-wise designed, and complex 3D deformations including bending, twisting, and folding are quantitatively controlled. In addition, the fabric-structured LCE actuators can be threaded, stitched, and reknitted to achieve advanced geometry, integrated multi-functions and efficient recyclability. This approach allows the fabrication of versatile LCE actuators with potential applications in smart textiles and soft robots.

Photocontrollable Elongation Actuation of Liquid Crystal Elastomer Films with Well-Defined Crease Structures

Although liquid crystal elastomers (LCEs) have demonstrated various applications in artificial muscles and soft robotics, their inherent flexibility and orientation-dependent forces limit their functions. For instance, LCEs can sustain a high actuation force when they contract but cannot elongate to drive loads with large displacements. In this study, it is demonstrated that photocontrollable elongation actuation with a large strain can be achieved in polydomain LCEs by programming the crease structures in a well-defined order to couple the actuation forces. Efficient photoactuation without overheating-induced damage to the materials is favored, based on the well-designed photosensitive molecular switch crosslinker via the synergy of photochemical and photothermal effects. The LCE actuator can jack up heavy loads, elongate freely, and contract back to manipulate distant objects. Theoretical analysis based on a finite element simulation of the deformation energy during the actuation process reveals a trade-off between the abilities of jacking-up and withstanding load. More importantly, this study simplifies the design of a single material with functions inherent only in other soft robotic devices based on the assembly of multiple modules, thus providing a design strategy for surpassing instinctive properties of conventional soft materials to expand the functions of soft robotics.

Liquid Crystal Elastomer-Liquid Metal Composite: Ultrafast, Untethered, and Programmable Actuation by Induction Heating

Liquid crystal elastomers (LCEs) are a class of stimuli-responsive materials that have been intensively studied for applications including artificial muscles, shape morphing structures, and soft robotics due to their capability of large, programmable, and fully reversible actuation strains. To fully take advantage of LCEs, rapid, untethered, and programmable actuation methods are highly desirable. Here, a liquid crystal elastomer-liquid metal (LCE-LM) composite is reported, which enables ultrafast and programmable actuations by eddy current induction heating. The composite consists of LM sandwiched between two LCE layers printed via direct ink writing (DIW). When subjected to a high-frequency alternating magnetic field, the composite is actuated in milliseconds. By moving the magnetic field, the eddy current is spatially controlled for selective actuation. Additionally, sequential actuation is achievable by programming the LM thickness distribution in a sample. With these capabilities, the LCE-LM composite is further exploited for multimodal deformation of a pop-up structure, on-ground omnidirectional robotic motion, and in-water targeted object manipulation and crawling.

On the Effects of Different trans and cis Populations in Azobenzene Liquid Crystal Elastomers: A Monte Carlo Investigation

We investigate main-chain liquid crystal elastomers (LCEs) formed by photoresponsive azobenzene units with different populations of trans and cis conformers (from fully trans to fully cis). We study their macroscopic properties as well as their molecular organization using extensive Monte Carlo simulations of a simple coarse-grained model where the trans and cis conformers are represented by soft-core biaxial Gay-Berne particles with size and interaction energy parameters obtained by fitting a bare bone azobenzene moiety represented at atomistic level. We find that increasing the fraction of cis conformers, as could be obtained by near-UV irradiation, shifts the nematic-isotropic transition to a lower temperature, consistently with experiment, while generating internal stress in a clamped sample. An analysis of pair distributions shows that the immediate surroundings of a bent cis molecule are slightly less dense and more orientationally disordered in comparison with that of a trans conformer. Comparing nematic and smectic LCEs, actuation in the smectic phase proved less effective, disrupting the smectic layers to some extent but preserving orientational order of the azobenzene moieties.

Self-Oscillating Liquid Crystal Elastomer Helical Spring Oscillator with Combined Tension and Torsion

Self-oscillation is the autonomous maintenance of continuous periodic motion through energy absorption from non-periodic external stimuli, making it particularly attractive for fabricating soft robots, energy-absorbing devices, mass transport devices, and so on. Inspired by the self-oscillating system that presents high degrees of freedom and diverse complex oscillatory motions, we created a self-oscillating helical spring oscillator with combined tension and torsion under steady illumination, among which a mass block and a liquid crystal elastomer (LCE) helical spring made with LCE wire are included. Considering the well-established helical spring model and the dynamic LCE model, a nonlinear dynamic model of the LCE helical spring oscillator under steady illumination is proposed. From numerical calculation, the helical spring oscillator upon exposure to steady illumination possesses two motion regimes, which are the static regime and the self-tension-torsion regime. Contraction of the LCE wire under illumination is necessary to generate the self-tension-torsion of the helical spring oscillator, with its continuous periodic motion being maintained by the mutual balance between light energy input and damping dissipation. Additionally, the critical conditions for triggering the self-tension-torsion, as well as the vital system parameters affecting its frequencies and amplitudes of the translation and the rotation, were investigated in detail. This self-tension-torsion helical spring oscillator is unique in its customizable mechanical properties via its structural design, small material strain but large structural displacement, and ease of manufacture. We envision a future of novel designs for soft robotics, energy harvesters, active machinery, and so on.

4D Printing of Reprogrammable Liquid Crystal Elastomers with Synergistic Photochromism and Photoactuation

4D printing of liquid crystal elastomers (LCEs) via direct ink writing has opened up great opportunities to create stimuli-responsive actuations for applications such as soft robotics. However, most 4D-printed LCEs are limited to thermal actuation and fixed shape morphing, posing a challenge for achieving multiple programmable functionalities and reprogrammability. Here, a 4D-printable photochromic titanium-based nanocrystal (TiNC)/LCE composite ink is developed, which enables the reprogrammable photochromism and photoactuation of a single 4D-printed architecture. The printed TiNC/LCE composite exhibits reversible color-switching between white and black in response to ultraviolet (UV) irradiation and oxygen exposure. Upon near-infrared (NIR) irradiation, the UV-irradiated region can undergo photothermal actuation, allowing for robust grasping and weightlifting. By precisely controlling the structural design and the light irradiation, the single 4D-printed TiNC/LCE object can be globally or locally programmed, erased, and reprogrammed to achieve desirable photocontrollable color patterns and 3D structure constructions, such as barcode patterns and origami- and kirigami-inspired structures. This work provides a novel concept for designing and engineering adaptive structures with unique and tunable multifunctionalities, which have potential applications in biomimetic soft robotics, smart construction engineering, camouflage, multilevel information storage, etc.

Self-Sustained Oscillation of Electrothermally Responsive Liquid Crystal Elastomer Film in Steady-State Circuits

Self-excited oscillations have the advantages of absorbing energy from a stable environment and Self-control; therefore, Self-excited motion patterns have broader applications in micro devices, autonomous robots, sensors and energy-generating devices. In this paper, a Self-sustained curling liquid crystal elastomer (LCE) film-mass system is proposed on the basis of electrothermally responsive materials, which can realize Self-oscillation under a steady-state current. Based on the contact model and dynamic LCE model, a nonlinear dynamics model of LCE film in steady-state circuits is developed and numerical calculations are carried out using the Runge-Kutta method. Through numerical calculations, it is demonstrated that LCE film-mass systems have two motion patterns in steady-state circuits: namely, a Self-oscillation pattern and a stationary pattern. Self-sustained curling of LCE film originates from the fact that the energy absorbed by the system exceeds the energy dissipated due to the damping effect. In addition, the critical conditions for triggering Self-oscillation and the effects of several key dimensionless system parameters on the amplitude and period of Self-oscillation are investigated in detail. Calculation results show that the height of electrolyte solution, gravitational acceleration, elastic modulus of LCE film, limit temperature, curvature coefficient, thermal shrinkage coefficient and damping factor all have a modulating effect on the amplitude and period of Self-oscillation. This research may deepen the understanding of Self-excited oscillation, with promising applications in energy harvesting, power generation, monitoring, soft robotics, medical devices, and micro and nano devices.

Pretension-Free and Self-Recoverable Coiled Artificial Muscle Fibers with Powerful Cyclic Work Capability

Similar to natural muscle fibers, coiled artificial muscle fibers provide a straightforward contraction. However, unlike natural muscle fibers, their recovery from the contracted state to the initial state requires high stress, resulting in almost zero work during a full actuation cycle. Herein, a self-recoverable coiled artificial muscle fiber was prepared by conformally coating an elastic carbon nanotube (CNT) fiber with a very thin liquid crystal elastomer (LCE) sheath. The as-obtained muscle fiber demonstrated excellent actuation properties comprising 56.9% contractile stroke, 1522%/s contraction rate, 7.03 kW kg^-1 power density, and 32,000 stable cycles. The LCE chains were helically aligned in a nematic phase, and the phase change of the LCE caused by Joule heating drove the actuation process. Moreover, the LCE/CNT fiber had a well-separated, torsionally stable, and elastic coiled structure, which permitted large contractile strokes and acted as an elastic template for external-stress-free recovery. Thus, the use of self-recoverable muscle fibers to mimic the natural muscles for object dragging, multidirectional bending, and quick striking was demonstrated.

Recent Advances in 4D Printing of Liquid Crystal Elastomers

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

Switching between 3D Surface Topographies in Liquid Crystal Elastomer Coatings Using Two-Step Imprint Lithography

While dynamic surface topographies are fabricated using liquid crystal (LC) polymers, switching between two distinct 3D topographies remains challenging. In this work, two switchable 3D surface topographies are created in LC elastomer (LCE) coatings using a two-step imprint lithography process. A first imprinting creates a surface microstructure on the LCE coating which is polymerized by a base catalyzed partial thiol-acrylate crosslinking step. The structured coating is then imprinted with a second mold to program the second topography, which is subsequently fully polymerized by light. The resulting LCE coatings display reversible surface switching between the two programmed 3D states. By varying the molds used during the two imprinting steps, diverse dynamic topographies can be achieved. For example, by using grating and rough molds sequentially, switchable surface topographies between a random scatterer and an ordered diffractor are achieved. Additionally, by using negative and positive triangular prism molds consecutively, dynamic surface topographies switching between two 3D structural states are achieved, driven by differential order/disorder transitions in the different areas of the film. It is anticipated that this platform of dynamic 3D topological switching can be used for many applications, including antifouling and biomedical surfaces, switchable friction elements, tunable optics, and beyond.

Four-Dimensional Printing of Temperature-Responsive Liquid Crystal Elastomers with Programmable Shape-Changing Behavior

Liquid crystal elastomers (LCEs) are polymer networks that exhibit anisotropic liquid crystalline properties while maintaining the properties of elastomers, presenting reversible high-speed and large-scale actuation in response to external stimuli. Herein, we formulated a non-toxic, low-temperature liquid crystal (LC) ink for temperature-controlled direct ink writing 3D printing. The rheological properties of the LC ink were verified under different temperatures given the phase transition temperature of 63 °C measured by the DSC test. Afterwards, the effects of printing speed, printing temperature, and actuation temperature on the actuation strain of printed LCEs structures were investigated within adjustable ranges. In addition, it was demonstrated that the printing direction can modulate the LCEs to exhibit different actuation behaviors. Finally, by sequentially conforming structures and programming the printing parameters, it showed the deformation behavior of a variety of complex structures. By integrating with 4D printing and digital device architectures, this unique reversible deformation property will help LCEs presented here apply to mechanical actuators, smart surfaces, micro-robots, etc.

Biomimetic Multicolor-Separating Photonic Skin using Electrically Stretchable Chiral Photonic Elastomers

Structural color can be produced by nanoperiodic dielectric structures using soft materials. Chiral photonic elastomers (CPEs) produced from elastic chiral liquid crystal molecules can self-organize into a helical nanostructure, and the chiral nanostructural color can be tuned by stretching. However, the ability to control the separation of biomimetic multicolors for practical applications beyond simple uniaxial stretching of single-colored structures has been limited until now. Here, stretchable CPEs with simultaneous multicolor control, including electrical control, are presented. By engineering the heterogeneous elastic modulus of the CPEs, stretchable and simultaneous multicolor separations from an initially homogeneous color are realized. Electrically stretchable multicolor separation is investigated using a hybrid CPE structure on dielectric elastomer actuators, and multiarrayed color binning and chameleon-like photonic e-skin are further developed for device applications. Moreover, multicolor concealed camouflage switching and control of invisible photonic e-skin are demonstrated. This multicolor control of stretchable photonic systems improves the functionality of various potential photonic applications.

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

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

Bioinspired Liquid Crystalline Spinning Enables Scalable Fabrication of High-Performing Fibrous Artificial Muscles

Leveraging liquid crystal elastomers (LCEs) to realize scalable fabrication of high-performing fibrous artificial muscles is of particular interest because these active soft materials can provide large, reversible, programmable deformations upon environmental stimuli. High-performing fibrous LCEs require the used processing technology to enable shaping LCEs into micro-scale fine fibers as thin as possible while achieving macroscopic LC orientation, which however remains a daunting challenge. Here, a bioinspired spinning technology is reported that allows for continuous, high-speed production (fabrication speed up to 8400 m h^-1 ) of thin and aligned LCE microfibers combined with rapid deformation (actuation strain rate up to 810% s^-1 ), powerful actuation (actuation stress up to 5.3 MPa), high response frequency (50 Hz), and long cycle life (250 000 cycles without obvious fatigue). Inspired by liquid crystalline spinning of spiders that takes advantage of multiple drawdowns to thin and align their dragline silks, internal drawdown via tapered-wall-induced-shearing and external drawdown via mechanical stretching are employed to shape LCEs into long, thin, aligned microfibers with the desirable actuation performances, which few processing technologies can achieve. This bioinspired processing technology capable of scalable production of high-performing fibrous LCEs would benefit the development of smart fabrics, intelligent wearable devices, humanoid robotics, and other areas.

Physical Models from Physical Templates Using Biocompatible Liquid Crystal Elastomers as Morphologically Programmable Inks For 3D Printing

Advanced manufacturing has received considerable attention as a tool for the fabrication of cell scaffolds however, finding ideal biocompatible and biodegradable materials that fit the correct parameters for 3D printing and guide cells to align remain a challenge. Herein, a photocrosslinkable smectic-A (Sm-A) liquid crystal elastomer (LCE) designed for 3D printing is presented, that promotes cell proliferation but most importantly induces cell anisotropy. The LCE-based bio-ink allows the 3D duplication of a highly complex brain structure generated from an animal model. Vascular tissue models are generated from fluorescently stained mouse tissue spatially imaged using confocal microscopy and subsequently processed to create a digital 3D model suitable for printing. The 3D structure is reproduced using a Digital Light Processing (DLP) stereolithography (SLA) desktop 3D printer. Synchrotron Small-Angle X-ray Diffraction (SAXD) data reveal a strong alignment of the LCE layering within the struts of the printed 3D scaffold. The resultant anisotropy of the LCE struts is then shown to direct cell growth. This study offers a simple approach to produce model tissues built within hours that promote cellular alignment.

Elastomers Grow into Actuators

It is common knowledge that when an elastomer (rubber) is stretched, its length will be maintained if its two ends are fixed. Here, it is serendipitously found that when an elastomer is slowly elongated further to achieve buckling under such conditions, the final length is much longer than the pre-stretched length. This allows the design of untethered autonomous synthetic-material-based soft robots that do not need any other chemical or electrical energy sources or external stimuli after the pre-strain is installed. Once the growth starts, the elongation continues to proceed even when the applied force is removed. Moreover, the elastomer, after growing, eventually forms a robust soft actuator that can be reshaped for different purposes. Few synthetic materials can grow like this, so far. This investigation shows that the material has an uncommon liquid crystal phase. Contrary to normal liquid crystals, it becomes birefringent only at high temperatures. The formation and the reshaping of the resulting soft actuators relate to a usually unnoticed reversible reaction. The work is promising to promote further understanding of dynamic covalent chemistry and liquid crystal elastomers, as well as to foster new designs and high-impact applications of bioinspired sustainable soft actuators in areas other than soft robots.

Self-Sustained Euler Buckling of an Optically Responsive Rod with Different Boundary Constraints

Self-sustained oscillations can directly absorb energy from the constant environment to maintain its periodic motion by self-regulating. As a classical mechanical instability phenomenon, the Euler compression rod can rapidly release elastic strain energy and undergo large displacement during buckling. In addition, its boundary configuration is usually easy to be modulated. In this paper, we develop a self-sustained Euler buckling system based on optically responsive liquid crystal elastomer (LCE) rod with different boundary constraints. The buckling of LCE rod results from the light-induced expansion and compressive force, and the self-buckling is maintained by the energy competition between the damping dissipation and the net work done by the effective elastic force. Based on the dynamic LCE model, the governing equations for dynamic Euler buckling of the LCE rod is formulated, and the approximate admissible trigonometric functions and Runge-Kutta method are used to solve the dynamic Euler buckling. Under different illumination parameters, there exists two motion modes of the Euler rod: the static mode and the self-buckling mode, including alternating and unilateral self-buckling modes. The triggering conditions, frequency, and amplitude of the self-sustained Euler buckling can be modulated by several system parameters and boundary constraints. Results indicate that strengthening the boundary constraint can increase the frequency and reduce the amplitude. It is anticipated that this system may open new avenues for energy harvesters, signal sensors, mechano-logistic devices, and autonomous robots.

From Light-Powered Motors, to Micro-Grippers, to Crawling Caterpillars, Snails and Beyond-Light-Responsive Oriented Polymers in Action

"How would you build a robot, the size of a bacteria, powered by light, that would swim towards the light source, escape from it, or could be controlled by means of different light colors, intensities or polarizations?" This was the question that Professor Diederik Wiersma asked PW on a sunny spring day in 2012, when they first met at LENS-the European Laboratory of Nonlinear Spectroscopy-in Sesto Fiorentino, just outside Florence in northern Italy. It was not just a vague question, as Prof. Wiersma, then the LENS director and leader of one of its research groups, already had an idea (and an ERC grant) about how to actually make such micro-robots, using a class of light-responsive oriented polymers, liquid crystal elastomers (LCEs), combined with the most advanced fabrication technique-two-photon 3D laser photolithography. Indeed, over the next few years, the LCE technology, successfully married with the so-called direct laser writing at LENS, resulted in a 60 micrometer long walker developed in Prof. Wiersma's group (as, surprisingly, walking at that stage proved to be easier than swimming). After completing his post-doc at LENS, PW returned to his home Faculty of Physics at the University of Warsaw, and started experimenting with LCE, both in micrometer and millimeter scales, in his newly established Photonic Nanostructure Facility. This paper is a review of how the ideas of using light-powered soft actuators in micromechanics and micro-robotics have been evolving in Warsaw over the last decade and what the outcomes have been so far.

4D Printing of Freestanding Liquid Crystal Elastomers via Hybrid Additive Manufacturing

Liquid crystal elastomers (LCE) are appealing candidates among active materials for 4D printing, due to their reversible, programmable and rapid actuation capabilities. Recent progress has been made on direct ink writing (DIW) or Digital Light Processing (DLP) to print LCEs with certain actuation. However, it remains a challenge to achieve complicated structures, such as spatial lattices with large actuation, due to the limitation of printing LCEs on the build platform or the previous layer. Herein, a novel method to 4D print freestanding LCEs on-the-fly by using laser-assisted DIW with an actuation strain up to -40% is proposed. This process is further hybridized with the DLP method for optional structural or removable supports to create active 3D architectures in a one-step additive process. Various objects, including hybrid active lattices, active tensegrity, an actuator with tunable stability, and 3D spatial LCE lattices, can be additively fabricated. The combination of DIW-printed functionally freestanding LCEs with the DLP-printed supporting structures thus provides new design freedom and fabrication capability for applications including soft robotics, smart structures, active metamaterials, and smart wearable devices.

Programmable Shape Change in Semicrystalline Liquid Crystal Elastomers

Liquid crystal elastomers (LCEs) are stimuli-responsive materials capable of reversible and programmable shape change in response to an environmental stimulus. Despite the highly responsive nature of these materials, the modest elastic modulus and blocking stress exhibited by these actuating materials can be limiting in some engineering applications. Here, we engineer a semicrystalline LCE, where the incorporation of semicrystallinity in a lightly cross-linked liquid crystalline network yields tough and highly responsive materials. Directed self-assembly can be employed to program director profiles through the thickness of the semicrystalline LCE. In short, we use the alignment of a liquid crystal monomer phase to pattern the anisotropy of a semicrystalline polymer network. Both the semicrystalline-liquid crystalline and liquid crystalline-isotropic phase transition temperatures provide controllable shape transformations. A planarly aligned sample's normalized dimension parallel to the nematic director decreases from 1 at room temperature to 0.42 at 250 °C. The introduction of the semicrystalline nature also enhances the mechanical properties exhibited by the semicrystalline LCE. Semicrystalline LCEs have a storage modulus of 390 MPa at room temperature, and monodomain samples are capable of generating a contractile stress of 2.7 MPa on heating from 25 to 50 °C, far below the nematic to isotropic transition temperature. The robust mechanical properties of this material combined with the high actuation strain can be leveraged for applications such as soft robotics and actuators capable of doing significant work.

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

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

Biocatalytic 3D Actuation in Liquid Crystal Elastomers via Enzyme Patterning

Liquid crystal elastomers (LCEs) are stimuli-responsive materials that undergo large shape transformations after undergoing an order-disorder transition. While shape reconfigurations in LCEs are predominantly triggered by heat, there is a considerable interest in developing highly specific triggers that work at room temperature. Herein, we report the fabrication of biocatalytic LCEs that respond to the presence of urea by covalently immobilizing urease within chemically responsive LCE networks. The hydrogen-bonded LCEs developed in this work exhibited contractile strains of up to 36% upon exposure to a base. Notably, the generation of ammonia by immobilized urease triggered a disruption in the supramolecular network and a large reduction of liquid crystalline order in the films when the LCEs were exposed to urea. This reduction in order was macroscopically translated into a strain response that could be modulated by changing the concentration of urea or exposure time to the substrate. Local control of the mechanical response of the LCE was realized by spatially patterning the enzyme on the surface of the films. Subsequent exposure of enzymatically patterned LCE to urea-triggered 3D shape transformations into a curl, arch, or accordion-like structure, depending on the motif patterned on the film surface. Furthermore, we showed that the presence of salt was critical to prevent bridging of the network by the presence of ammonium ions, thereby enabling such macroscopic 3D shape changes. The large actuation potential of LCEs and the ability to translate the biocatalytic activity of enzymes to macroscopic 3D shape transformations could enable use in applications ranging from cell culture, medicine, or antifouling.

Liquid Crystal Elastomer with Integrated Soft Thermoelectrics for Shape Memory Actuation and Energy Harvesting

Liquid crystal elastomers (LCEs) have attracted tremendous interest as actuators for soft robotics due to their mechanical and shape memory properties. However, LCE actuators typically respond to thermal stimulation through active Joule heating and passive cooling, which make them difficult to control. In this work, LCEs are combined with soft, stretchable thermoelectrics to create transducers capable of electrically controlled actuation, active cooling, and thermal-to-electrical energy conversion. The thermoelectric layers are composed of semiconductors embedded within a 3D printed elastomer matrix and wired together with eutectic gallium-indium (EGaIn) liquid metal interconnects. This layer is covered on both sides with LCE, which alternately heats and cools to achieve cyclical bending actuation in response to voltage-controlled Peltier activation. Moreover, the thermoelectric layer can harvest energy from thermal gradients between the two LCE layers through the Seebeck effect, allowing for regenerative energy harvesting. As demonstrations, first, closed-loop control of the transducer is performed to rapidly track a changing actuator position. Second, a soft robotic walker that is capable of walking toward a heat source and harvesting energy is introduced. Lastly, phototropic-inspired autonomous deflection of the limbs toward a heat source is shown, demonstrating an additional method to increase energy recuperation efficiency for soft systems.

Pigmented Structural Color Actuators Fueled by Near-Infrared Light

Cuttlefish can modify their body shape and both their pigmentary and structural colors for protection. This adaptability has inspired the development of appearance-changing polymers such as structural color actuators, although in most cases, the original shape has been confined to being flat, and pigmented structural color actuators have not yet been reported. Here, we have successfully created a pigmented structural color actuator using a cholesteric liquid crystal elastomer with a lower actuation temperature where both actuation and coloration (structural and pigmental) are tunable with temperature and NIR light. The shape, structural color, and absorption of the NIR-absorbing dye pigment of the actuator all change with temperature. Light can be used to trigger local in-plane bending actuation in flat films and local shape changes in a variety of 3D-shaped objects. A cuttlefish mimic that can sense light and respond by locally changing its appearance was also made to demonstrate the potential of pigmented structural color actuators for signaling and camouflage in soft robotics.

Synergistic Energy Absorption Mechanisms of Architected Liquid Crystal Elastomers

A unique rate-dependent energy absorption behavior of liquid crystal elastomer (LCE)-based architected materials is reported. The architected materials consist of repeating unit cells of bistable tilted LCE beams sandwiched between stiff supports. The viscoelastic behavior of the LCE causes the energy absorption to increase with strain rate according to a power-law relationship, which can be modulated by changing the degree of mesogen alignment and the loading direction relative to the director. For a strain rate of 600 s^-1 , the unit cell exhibits up to a 5 MJ m^-3 energy absorption density, which is two orders of magnitude higher than the same structure fabricated from poly(dimethylsiloxane) elastomer and is comparable to the dissipation from irreversible plastic deformation exhibited by denser metals. For a multilayered structure of unit cells, nonuniform buckling of the different layers produces additional viscoelastic dissipation. This synergistic interaction between viscoelastic dissipation and snap-through buckling causes the energy absorption density to increase with the number of layers. The sequence of cell collapse can be controlled by grading the beam thickness to further promote viscous dissipation and enhance the energy absorption density. It is envisioned that the study can contribute to the development of lightweight extreme energy-absorbing metamaterials.

Liquid Crystal Elastomer Twist Fibers toward Rotating Microengines

Untethered twist fibers do not require end-anchoring structures to hold their twist orientation and offer simple designs and convenient operation. The reversible responsiveness of these fibers allows them to generate torque and rotational deformation continuously upon the application of external stimuli. The fibers therefore have potential in rotating microengines. In practical applications, high torque and rotational deformation are desirable to meet work capacity requirements. However, the simultaneous endowment of reversible responsiveness and high rotational performance to untethered twist fibers remains a challenge. In this study, a liquid crystal elastomer twist fiber (LCETF) is designed and developed with a fixed twisting alignment of mesogens to provide untethered and reversible responsiveness. Outstanding rotational performance can be achieved when the mesogenic orientation is disrupted through heat triggering. Owing to the significant intrinsic contractile ratio of the LCE material, the rotational deformation of the LCETF can reach 243.6° mm^-1 . More importantly, the specific torque can reach 10.1 N m kg^-1 , which exceeds previously reported values. In addition, the LCETF can be exploited in a rotating microengine to convert heat into electricity with an induction voltage as high as 9.4 V. This work broadens the applications of LCEs for energy harvesters, micromachines, and soft robots.

Progress in Utilizing Dynamic Bonds to Fabricate Structurally Adaptive Self-Healing, Shape Memory, and Liquid Crystal Polymers

Stimuli-responsive structurally dynamic polymers are capable of mimicking the biological systems to adapt themselves to the surrounding environmental changes and subsequently exhibiting a wide range of responses ranging from self-healing to complex shape-morphing. Dynamic self-healing polymers (SHPs), shape-memory polymers (SMPs) and liquid crystal elastomers (LCEs), which are three representative examples of stimuli-responsive structurally dynamic polymers, have been attracting broad and growing interest in recent years because of their potential applications in the fields of electronic skin, sensors, soft robots, artificial muscles, and so on. We review recent advances and challenges in the developments towards dynamic SHPs, SMPs and LCEs, focusing on the chemistry strategies and the dynamic reaction mechanisms that enhance the performances of the materials including self-healing, reprocessing and reprogramming. We compare and discuss the different dynamic chemistries and their mechanisms on the enhanced functions of the materials, where three summary tables are presented: a library of dynamic bonds and the resulting characteristics of the materials. Finally, we provide a critical outline of the unresolved issues and future perspectives on the emerging developments. This article is protected by copyright. All rights reserved.

Light-Actuated Liquid Crystal Elastomer Prepared by Projection Display

Soft materials with programmability have been widely used in drug delivery, tissue engineering, artificial muscles, biosensors, and related biomedical engineering applications. Liquid crystal elastomers (LCEs) can easily morph into three-dimensional (3D) shapes by external stimuli such as light, heat, and humidity. In order to program two-dimensional (2D) LCE sheets into desired 3D morphologies, it is critical to precisely control the molecular orientations in LCE. In this work, we propose a simple photopatterning method based on a maskless projection display system to create spatially varying molecular orientations in LCE films. By designing different synchronized rotations of the polarizer and projected images, diverse configurations ranging from individual to 2D lattice of topological defects are fabricated. The proposed technique significantly simplified the photopatterning procedure without using fabricated masks or waveplates. Shape transformations such as a cone and a truncated square pyramid, and functionality mimicking the responsive Mimosa Pudica are demonstrated in the fabricated LCE films. The programmable LCE morphing behaviors demonstrated in this work will open opportunities in soft robotics and smart functional devices.

Customizable Sophisticated Three-Dimensional Shape Changes of Large-Size Liquid Crystal Elastomer Actuators

Stimuli-responsive liquid crystal elastomers (LCEs), which exhibit sophisticated and versatile shape variations and functions upon stimulations, have constantly interested material science researchers. To date, many challenges still exist in scaling up orientated LCEs with sophisticated physical shapes and multi-functions. Herein, LCEs with various customizable conventional and exotic three-dimensional (3D) shapes and with sizes larger than those previously reported have been prepared by combining magnetic field alignment and soft lithography technology. These LCEs have film, cylinder, ellipsoid, hemispheroid, tube, pyramid, triangle and rectangle frame, grid pattern, cubic frame, and spring shapes. Meanwhile, diversified deformation behaviors such as contraction, expansion, bending, and twisting have been achieved by effectively controlling the alignment directions. Finally, the LCE actuator with hemispheroid shape has been explored for its possible applications in dynamic Braille displays or lenses with adjustable focal length. The simple strategy reported here provides a convenient way to customize multimorphological large-size 3D LCE actuators and their stimuli-responsive deformations. These systems will considerably enlarge the potential applications of LCEs and benefit the development of LCE soft robots and the future special bionic systems.

A Liquid Crystal Elastomer-Based Unprecedented Two-Way Shape-Memory Aerogel

With the advantage of reversible shape-morphing between two different permanent shapes under external stimuli, the two-way shape-memory aerogel is expected to become a preferred aerogel for developing practical applications in actuators, sensors, robotics, and more. Herein, the first two-way shape-memory liquid crystal elastomer (LCE)-based aerogel is prepared by an orthogonal heat and light curing strategy coupled with an intermediate mechanical stretching step. The differential scanning calorimetry, temperature-varied wide-angle X-ray scattering, and polarizing optical microscope results indicate that the aerogel possesses a liquid crystal phase and the insider mesogens are well-oriented along the stretching direction. In addition to having superior compressibility and excellent shape stability, this LCE-based aerogel can perform a reversible shape deformation during the heating/cooling cycles with a shrinkage ratio of 37%. The work, that is disclosed here, realizes a truly two-way shape-memory behavior rather than the one-way shape deformation of traditional polymer aerogel materials, and may promote potential applications of this novel LCE-based aerogel material in control devices, soft actuators, and beyond.

Ultrafast, High-Contractile Electrothermal-Driven Liquid Crystal Elastomer Fibers towards Artificial Muscles

Liquid crystal elastomer (LCE) fibers are capable of large and reversible deformations, making them an ideal artificial muscle. However, limited to stimulating source and structural design, current LCE fibers have not yet achieved both large contraction ratio and fast contraction rate to perform the intense motion. In this work, electrothermal-responsive liquid metal (LM) containing LCE (LM-LCE) fibers is reported. By introducing flexible liquid metal, LM-LCE fibers retain deformability with a large contraction ratio similar to that of pure LCE fibers and are endowed with electrical responsiveness. Applying precisely controlled electrical stimulation, the contraction ratio and rate of LM-LCE fibers can be programmed by adjusting voltage value and pulse time. Under electrical stimulation at 1.25 V cm^-1 , 0.1 s, LM-LCE fibers can produce over 40% contraction ratio at an ultrafast contraction rate of up to 280% s^-1 . Furthermore, LM-LCE fibers mimic human triceps muscle and can conduct precise ball shooting. LM-LCE fibers with excellent contraction ratio and rate extend their functionality as artificial muscles to perform intense movements and are expected to enrich the challenging applications of soft robots.

Liquid Crystal Elastomers with Enhanced Directional Actuation to Electric Fields

The integration of soft, stimuli-responsive materials in robotic systems is a promising approach to introduce dexterous and delicate manipulation of objects. Electrical control of mechanical response offers many benefits in robotic systems including the availability of this energy input, the associated response time, magnitude of actuation, and opportunity for self-regulation. Here, a materials chemistry is detailed to prepare liquid crystal elastomers (LCEs) with a 14:1 modulus contrast and increase in dielectric constant to enhance electromechanical deformation. The inherent modulus contrast of these LCEs (when coated with compliant electrodes) directly convert an electric field to a directional expansion of 20%. The electromechanical response of LCE actuators is observed upon application of voltage ranging from 0.5 to 6 kV. The deformation of these materials is rapid, reaching strain rates of 18% s^-1 . Upon removal of the electric field, little hysteresis is observed. Patterning the spatial orientation of the nematic director of the LCEs results in a 2D-3D shape transformation to a cone 8 mm in height. Individual and sequential addressing of an array of LCE actuators is demonstrated as a haptic surface.

Temperature-Responsive Multistable Metamaterials

The ability for materials to adapt their shape and mechanical properties to the local environment is useful in a variety of applications, from soft robots to deployable structures. In this work, we integrate liquid crystal elastomers (LCEs) with multistable structures to allow autonomous reconfiguration in response to local changes in temperature. LCEs are incorporated in a kirigami-inspired system in which squares are connected at their vertices by small hinges composed of LCE-silicone bilayers. These bend and soften as the temperature increases above room temperature. By choosing geometric parameters for the hinges such that bifurcation points in the stability exist, a transition from mono- or tristability to bistability can be triggered by a sufficient increase in temperature, forcing rearrangements of the structure as minima in the energy landscape are removed. We demonstrate temperature-induced propagation of transition waves, enabling local structural changes to autonomously propagate and affect other parts of the structure. These effects could be harnessed in applications in interface control, reconfigurable structures, and soft robotics.

Innervated, Self-Sensing Liquid Crystal Elastomer Actuators with Closed Loop Control

The programmable assembly of innervated LCE actuators (iLCEs) with prescribed contractile actuation, self-sensing, and closed loop control via core-shell 3D printing is reported. This extrusion-based direct ink writing method enables coaxial filamentary features composed of pure LM core surrounded by an LCE shell, whose director is aligned along the print path. Specifically, the thermal response of the iLCE fiber-type actuators is programmed, measured, and modeled during Joule heating, including quantifying the concomitant changes in fiber length and resistance that arise during simultaneous heating and self-sensing. Due to their reversible, high-energy actuation and their resistive feedback, it is also demonstrated that iLCEs can be regulated with closed loop control even when perturbed with large bias loads. Finally, iLCE architectures capable of programmed, self-sensing 3D shape change with closed loop control are fabricated.