Programmable Deformation Research Articles

Stiff deployable structures via coupling of thick Miura-ori tubes along creases

Origami-based structures are crucial to attaining deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami tubes enhances the geometrical variations and mechanical properties. However, existing thickness accommodation for coupling of origami tubes is generally limited to manifold, that is, a polyhedral surface in which each edge is shared by at most two faces. By contrast, this study proposed origami-based structures composed of multiple thick Miura-ori tubes that are not limited to the manifold, possibly having edges shared by more than two faces, resulting in rigid-foldable thick origami cellular structures. Furthermore, the coupling method contributes to the high stiffness of the coupled Miura-ori tubes, as evidenced by the wide gap in the eigenvalues between the one-DOF mode and the elastic modes obtained by the bar-and-hinge models. Finally, meter-scale coupled Miura-ori tubes were fabricated to demonstrate one-DOF motion and high stiffness. The findings of this study enable the rapid construction of structures by one-DOF motion and the enhancement of transportability via flat-foldability.

Dynamically customizable 4D printed shape memory polymer biomedical devices: a review

Abstract There is an increased risk of complications and even surgical failures for various types of medical devices due to difficult to control configurations and performances, incomplete deployments, etc. Shape memory polymers (SMPs)-based 4D printing technology offers the opportunity to create dynamic, personalized, and accurately controllable biomedical devices with complex configurations. SMPs, typical representatives of intelligent materials, are capable of programmable deformation in response to stimuli and dynamic remodeling on demand. 4D printed SMP medical devices not only enable active control of configuration, performance and functionality, but also open the way for minimally invasive treatments and remote controllable deployment. Here, the shape memory mechanism, actuation methods, and printing strategies of active programmable SMPs are reviewed, and cutting-edge advances of 4D printed SMPs in the fields such as bone scaffolds, tracheal stents, cardiovascular stents, cell morphological regulation, and drug delivery are highlighted. In addition, promising and meaningful future research directions for 4D printed SMP biomedical devices are discussed. The development of 4D printed SMP medical devices is inseparable from the in-depth cooperation between doctors and engineers. The application of 4D printed SMP medical devices will facilitate the rapid realization of "smart medical care" and accelerate the process of "intelligentization" of medical devices.

Super-strain, high sensitivity, and multi-responsive flexible sensor based on nanocellulose hydrogels

The application of flexible sensors based on conductive hydrogels in human motion monitoring has been widely studied. Here, a facile one-pot method is proposed to prepare nanocellulose/polyacrylamide/sodium alginate hydrogel (CNWs/SA/PAM). The resulting CNWs/SA/PAM hydrogel has exceptional mechanical properties (7850 %, 1.3 MPa) and high sensitivity (14200 %, GF=3.6, 68 ms). The nanocellulose crystals (CNWs) are bent and entangled with the backbone of the polyacrylamide/sodium alginate (PAM/SA) hydrogel network, effectively transferring external mechanical forces to the entire physical and chemical cross-linking domains. This feature considerably improves the tensile strength, strain sensing range, and sensitivity of the hydrogel. The CNWs/SA/PAM hydrogel exhibits a sensitive response to water molecules and temperature-stimulated shape memory behaviour and can act as a programmable deformation actuator. The hydrogel sensor can detect and monitor subtle human motion signals in a timely and accurate manner. It is designed as a single-electrode friction nanogenerator insole (insole-TENG) that can monitor the large motion states of the human body in real time and can be efficiently used for small self-powered electronic devices. This study will shed some light on developing cellulose hydrogels in multifunctional human motion health detection sensors, soft-actuated robots, and self-powered applications for small electronic devices.

Microgripper Robot with End Electropermanent Magnet Collaborative Actuation.

Magnetic microgrippers, with their miniaturized size, flexible movement, untethered actuation, and programmable deformation, can perform tasks such as cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery in hard-to-reach regions. However, common external magnetic-field-driving devices suffer from low efficiency and utilization due to the significant size disparity with magnetic microgrippers. Here, we introduce a microgripper robot (MGR) driven by end electromagnetic and permanent magnet collaboration. The magnetic field generated by the microcoils can be amplified by the permanent magnets and the direction can be controlled by changing the current, allowing for precise control over the opening and closing of the magnetic microgripper and enhancing its operational range. Experimental results demonstrate that the MGR can be flexibly controlled in complex constrained environments and is highly adaptable for manipulating objects. Furthermore, the MGR can achieve planar and antigravity object grasping and transportation within complex simulated human cavity pathways. The MGR's grasping capabilities can also be extended to specialized tasks, such as circuit connection in confined spaces. The MGR combines the required safety and controllability for in vivo operations, making it suitable for potential clinical applications such as tumor or abnormal tissue sampling and surgical assistance.

Ultrarobust Actuator Comprising High-Strength Carbon Fibers and Commercially Available Polycarbonate with Multi-Stimulus Responses and Programmable Deformation.

Polymer-based actuators have gained extensive attention owing to their potential applications in aerospace, soft robotics, etc. However, poor mechanical properties, the inability of multi-stimuli response and programmable deformation, and the costly fabrication procedure have significantly hindered their practical application. Herein, these issues are overcome via a simple and scalable one-step molding method. The actuator is fabricated by hot-pressing commercial unidirectional carbon fiber/epoxy prepregs with a commodity PC membrane. Notable CTE differences between the CF and PC layers endow the bilayer actuator with fast and reliable actuation deformation. Benefiting from the high strength of CF, the actuator exhibits excellent mechanical performance. Moreover, the anisotropy of CF endows the actuator with design flexibility. Furthermore, the multifunction of CF makes the actuator capable of responding to thermal, optical, and electrical stimulation simultaneously. Based on the bilayer actuator, we successfully fabricated intelligent devices such as light-driven biomimetic flowers, intelligent grippers, and gesture-simulating apparatuses, which further validate the programmability and multi-stimuli response characteristics of this actuator. Strikingly, the prepared gripper possesses a grasping capacity approximately 31.2 times its own weight. It is thus believed that the concept presented paves the way for building next-generation robust robotics.

Biobased Inks Based on Cuttlefish Ink and Cellulose Nanofibers for Biodegradable Patterned Soft Actuators.

Soft actuators with stimuli-responsive and reversible deformations have shown great promise in soft robotics. However, some challenges remain in existing actuators, such as the materials involved derived from nonrenewable resources, complex and nonscalable preparation methods, and incapability of complex and programmable deformation. Here, a biobased ink based on cuttlefish ink nanoparticles (CINPs) and cellulose nanofibers (CNFs) was developed, allowing for the preparation of biodegradable patterned actuators by direct ink writing technology. The hybrid CNF/CINP ink displays good rheological properties, allowing it to be accurately printed on a variety of flexible substrates. A bilayer actuator was developed by printing an ink layer on a biodegradable poly(lactic acid) film using extrusion-based 3D printing technology, which exhibits reversible and large bending behavior under the stimuli of humidity and light. Furthermore, programmable and reversible folding and coiling deformations in response to stimuli have been achieved by adjusting the ink patterns. This work offers a fast, scalable, and cost-effective strategy for the development of biodegradable patterned actuators with programmable shape-morphing.

3D-printed passive bellow actuator for portable soft wearable robots

The compliance of soft wearable robots driven by fluids is high, but their portability and controllability are limited due to complex fluidic systems. On the other hand, tendon-driven soft wearable robots are compact and easy to control, but they have lower compliance when actively interacting with unknown environments. To address this trade-off between compliance and controllability, we propose a novel actuator design for soft wearable robots, named the passive bellow actuator (PBA). The PBA is 3D-printed using elastic materials, which enables it to be easily customized into various shapes and sizes. When tendons running through the PBA are pulled, it contracts and preserves elastic potential energy. When the tendons are released, the PBA extends like a spring and exerts the stored elastic energy to drive the human body. Additionally, programmable deformation can be easily achieved by adjusting the thickness of the PBA chamber. By utilizing these effects, the PBA can be used to assist human flexion and extension movements. We developed a portable soft robotic glove to demonstrate the feasibility of the PBA. The glove is light weight, power safe, and is inherently compliant when grasping irregular objects. Theoretical modeling and experimental tests were conducted to characterize the PBA, and experimental tests were conducted to demonstrate the performance of the soft robotic gloves.

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

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

Mechanical response of a novel square dome shell with bistable behavior: Improved analytical method and empirical model

In this study, a novel square dome-shaped shell with a fascinating bistable behavior is proposed, which is able to quickly switch to a new stable configuration within its elastic range under a certain load, due to its elastic instability. Compared to most circular shells currently studied, it is easier to arrange multiple structures in three-dimensional space to obtain multistable responses. Numerical and experimental methods were adopted for the study of the mechanical response of the square shell, and main influence parameters were also investigated. In addition, an improved piecewise fitting method is introduced to establish an empirical formula for predicting the mechanical response of bistable shells, which can be used to guide the design of bistable shells. Finally, two types of metamaterials, uniaxial compressible metamaterials and triaxial compressible metamaterials, are successfully designed according to the above theory, the typical behaviors of which are studied via simulations. This novel structure presented in this paper has broad application prospects in the fields of energy absorption and programmable deformation structures.

Reconfigurable Microlens Array Enables Tunable Imaging Based on Shape Memory Polymers.

Microlens arrays (MLAs) with a tunable imaging ability are core components of advanced micro-optical systems. Nevertheless, tunable MLAs generally suffer from high power consumption, an undeformable rigid body, large and complex systems, or limited focal length tunability. The combination of reconfigurable smart materials with MLAs may lead to distinct advantages including programmable deformation, remote manipulation, and multimodal tunability. However, unlike photopolymers that permit flexible structuring, the fabrication of tunable MLAs and compound eyes (CEs) based on transparent smart materials is still rare. In this work, we report reconfigurable MLAs that enable tunable imaging based on shape memory polymers (SMPs). The smart MLAs with closely packed 200 × 200 microlenses (40.0 μm in size) are fabricated via a combined technology that involves wet etching-assisted femtosecond laser direct writing of MLA templates on quartz, soft lithography for MLA duplication using SMPs, and the mechanical heat setting for programmable reconfiguration. By stretching or squeezing the shape memory MLAs at the transition temperature (80 °C), the size, profiles, and spatial distributions of the microlenses can be programmed. When the MLA is stretched from 0 to 120% (area ratio), the focal length is increased from 116 to 283 μm. As a proof of concept, reconfigurable MLAs and a 3D CE with a tunable field of view (FOV, 160-0°) have been demonstrated in which the thermally triggered shape memory deformation has been employed for tunable imaging. The reconfigurable MLAs and CEs with a tunable focal length and adjustable FOV may hold great promise for developing smart micro-optical systems.

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) latticesin 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.

Magnetoactive Millirobots with Ternary Phase Transition.

Magnetoactive soft millirobots have made significant advances in programmable deformation, multimodal locomotion, and untethered manipulation in unreachable regions. However, the inherent limitations are manifested in the solid-phase millirobot as limited deformability and in the liquid-phase millirobot as low stiffness. Herein, we propose a ternary-state magnetoactive millirobot based on a phase transitional polymer embedded with magnetic nanoparticles. The millirobot can reversibly transit among the liquid, solid, and viscous-fluid phases through heating and cooling. The liquid-phase millirobot has elastic deformation and mobility for unimpeded navigation in a constrained space. The viscous-fluid phase millirobot shows irreversible deformation and large ductility. The solid-phase millirobot shows good shape stability and controllable locomotion. Moreover, the ternary-state magnetoactive millirobot can achieve prominent capabilities including stiffness change and shape reconfiguration through phase transition. The millirobot can perform potential functions of navigation in complex terrain, three-dimensional circuit connection, and simulated treatment in a stomach model. This magnetoactive millirobot may find new applications in flexible electronics and biomedicine.

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.

Thermoresponsive supramolecular hydrogels with programmable deformation of the shape

Thermoresponsive supramolecular hydrogels with programmable deformation of the shape

A 4D printed nanoengineered super bioactive hydrogel scaffold with programmable deformation for potential bifurcated vascular channel construction.

Four-dimensional (4D) printing of hydrogels enabled the fabrication of complex scaffold geometries out of static parts. Although current 4D fabrication strategies are promising for creating vascular parts such as tubes, developing branched networks or tubular junctions is still challenging. Here, for the first time, a 4D printing approach is employed to fabricate T-shaped perfusable bifurcation using an extrusion-based multi-material 3D printing process. An alginate/methylcellulose-based dual-component hydrogel system (with defined swelling behavior) is nanoengineered with carbonized alginate (∼100 nm) to introduce anti-oxidative, anti-inflammatory, and anti-thrombotic properties and shape-shifting properties. A computational model to predict shape deformations in the printed hydrogels with defined infill angles was designed and further validated experimentally. Shape deformations of the 3D-printed flat sheets were achieved by ionic cross-linking. An undisrupted perfusion of a dye solution through a T-junction with minimal leakage mimicking blood flow through vessels is also demonstrated. Moreover, human umbilical vein endothelial and fibroblast cells seeded with printed constructs show intact morphology and excellent cell viability. Overall, the developed strategy paves the way for manufacturing self-actuated vascular bifurcations with remarkable anti-thrombotic properties to potentially treat coronary artery diseases.

Ultra-Stretchable Kirigami Piezo-Metamaterials for Sensing Coupled Large Deformations.

Mechanical metamaterials are known for their prominent mechanical characteristics such as programmable deformation that are due to periodic microstructures. Recent research trends have shifted to utilizing mechanical metamaterials as structural substrates to integrate with functional materials for advanced functionalities beyond mechanical, such as active sensing. This study reports on the ultra-stretchable kirigami piezo-metamaterials (KPM) for sensing coupled large deformations caused by in- and out-of-plane displacements using the lead zirconate titanate (PZT) and barium titanate (BaTiO3 ) composite films. The KPM are fabricated by uniformly compounding and polarizing piezoelectric particles (i.e., PZT and BaTiO3 ) in silicon rubber and structured by cutting the piezoelectric rubbery films into ligaments. Characterizes the electrical properties of the KPM and investigates the bistable mechanical response under the coupled large deformations with the stretching ratio up to 200% strains. Finally, the PZT KPM sensors are integrated into wireless sensing systems for the detection of vehicle tire bulge, and the non-toxic BaTiO3 KPM are applied for human posture monitoring. The reported kirigami piezo-metamaterials open an exciting venue for the control and manipulation of mechanically functional metamaterials for active sensing under complex deformation scenarios in many applications.

Structure-property-actuation relationships of shape-fixable magnetic vitrimer micropillar arrays

Magnetic actuation of micropillar arrays has been exploited for contactless and programmable deformation according to pre-programmed alignment of magnetic particles within the micropillars. However, once the external magnetic field is removed, the magnetically deformed structure reverts to its initial state. Herein, we synthesized magnetic vitrimer composites as micropillar arrays capable of shape fixation via dynamic covalent bonds. In the magnetic vitrimer composites, we systematically varied the concentration of magnetic particles and evaluated their structure-property-performance relationships. An increase in the concentration of the magnetic particles increases both magnetization and modulus of the composites. Although a higher magnetization of the composites will enhance magnetic responsivity, a larger modulus represents a higher bending stiffness, reducing the deformation strain by magnetic actuation. Due to this trade-off relationship, the magnetic actuation of the micropillars is determined by two variables. In competition between two variables, embedding 20 vol% of magnetic particles achieves the maximum bending angle of 45° for the micropillars. By understanding the structure-property relationships, we can optimize the concentration of magnetic particles for a high magnetic responsivity of the shape-fixable micropillar arrays.

Multi‐Stimuli‐Responsive Weldable Bilayer Actuator with Programmable Patterns and 3D Shapes

AbstractSoft actuators can harvest environmental energy and convert it into kinetic energy for motions like bending, twisting, stretching, and contracting. However, it remains challenging to design soft film actuators for complex and programmable deformation in three dimensions. Herein, a weldable and patternable multi‐stimuli‐responsive bilayer soft actuator is developed by a mask‐assisted spraying coating process, and its 3D geometries are achieved by welding the sodium alginate (SA) layer using water. The intrinsic hygroscopicity of SA film and the magnetic and photothermal properties of Fe3O4 nanoparticles enable reversible deformation of the bilayer actuator under three different external stimuli: moisture, magnetic field, and sunlight. Based on these properties, a variety of multi‐stimuli‐responsive intelligent devices are developed including smart curtains, smart grippers, biomimetic walkers, rolling actuators, swimmers, and windmill rotators. All these actuating stimulations are derived from naturally renewable energy without the consumption of any artificial energy, providing important enlightenment for green and sustainable applications of soft actuators.

Magnetic-field induced asymmetric hydrogel fibers for tough actuators with programmable deformation

Ingenious design of soft actuators with high mechanical performance, rapid actuation, and programmable deformation is necessary for their practical applications in the fields of artificial muscles, smart textiles, and soft robotics. Here we used a facile magnetic-field induction strategy to fabricate programmable actuators composed of tough hydrogel fibers. The anisotropic hydrogel fibers that consisted of dual physically cross-linked networks showed high tensile strength (28.9 MPa), while the asymmetric distribution of magnetic nanoparticles in hydrogel networks endowed the actuators with rapid bending velocity (3.2°·min−1·mm−1) in response to solvents. The pick-and-place manipulation of objects from ethanol to water were demonstrated by using the soft grippers composed of asymmetric hydrogel fibers. Furthermore, smart curtains that were woven by hydrogel fibers automatically rolled up or spread out in response to the change of ambient humidity. This work proved that tough hydrogel fibers fabricated by our magnetic-field induction strategy provided more possibilities in the field of soft actuators.

Programmable and Variable‐Stiffness Robotic Skins for Pneumatic Actuation

Pneumatic soft actuators possess relatively fast response, inherent high flexibility, and achieve extraordinary shape morphing under large deformations. Conventionally, the entire body of soft pneumatic robots needs to be designed for specific applications. Herein, a soft pneumatic actuator design with structured fabrics as actuator skins, which has high bending stiffness variation that can accomplish multiple tasks and different deformation modes in a single body, is proposed. By adjusting the structured skin, the developed soft actuator can be tailored to achieve various deformations. It is experimentally shown that the bending stiffness of the actuator can be adjusted from 108 to 5654 N m−1. The blocking force of the actuator in bending is comparable with that of conventional fabric‐reinforced pneumatic actuators, while the actuator skins are reusable and programmable. In application, the actuators are used to construct a bionic soft gripper with multiple degrees of freedom. By switching between three grasping modes, the gripper successfully fulfills a series of tasks including lifting weights up to 1 kg and grasping objects ranging from a grain of grape to a large iron basin. This work opens up an avenue for designing structured skins for pneumatic robots with programmable deformation modes and versatile functions.