Programmable Shape Research Articles

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.

Orientation-Dependent Propulsion of Active Brownian Spheres: From Self-Advection to Programmable Cluster Shapes.

Applications of active particles require a method for controlling their dynamics. While this is typically achieved via direct interventions, indirect interventions based, e.g., on an orientation-dependent self-propulsion speed of the particles, become increasingly popular. In this Letter, we investigate systems of interacting active Brownian spheres in two spatial dimensions with orientation-dependent propulsion using analytical modeling and Brownian dynamics simulations. It is found that the orientation dependence leads to self-advection, circulating currents, and programmable cluster shapes.

Oxygen-co-Thermal Driver for Constructing Integrated Anisotropic Hydrogels with Programmable Shape Deformation, Superior Self-Healing, and Mechanical Performance

Oxygen-<i>co</i>-Thermal Driver for Constructing Integrated Anisotropic Hydrogels with Programmable Shape Deformation, Superior Self-Healing, and Mechanical Performance

Shape-Tunable 4D Printing of LCEs via Cooling Rate Modulation: Stimulus-Free Locking of Actuated State at Room Temperature.

Liquid crystal elastomers (LCEs) have garnered considerable attention in the field of four-dimensional (4D) printing due to their large, reversible, and anisotropic shape-morphing capabilities. By utilizing direct ink writing, intricate LCE structures with programmable shape morphing can be achieved. However, the maintenance of the actuated state for LCEs requires continuous and substantial external stimuli, presenting challenges for practical applications, particularly under ambient conditions. This study reports a straightforward and effective physical approach to lock the actuated state of LCEs through rapid cooling while preserving their reversible performance. Rapid cooling significantly reduces the mobility of the lightly cross-linked network in LCEs, resulting in a notably slow recovery of mesogen alignment. As a result, the locked LCE structures retain their actuated state even at room temperature. Moreover, we demonstrate the ability to achieve tunable shapes between the original and actuated states by modulating the cooling rate, i.e., varying the temperature and type of cooling medium. The proposed method opens up new possibilities to achieve stable and tunable shape locking of soft devices for engineering applications.

Programmable shape memory polymers: Intermolecular and interfacial interaction mechanisms

Programmable shape memory polymers: Intermolecular and interfacial interaction mechanisms

Embedded shape morphing for morphologically adaptive robots

Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot’s body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot’s body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs’ shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.

Multi-Stimuli Responsive Soft Actuator with Locally Controllable and Programmable Complex Shape Deformations

Multi-Stimuli Responsive Soft Actuator with Locally Controllable and Programmable Complex Shape Deformations

A meshfree model of hard-magnetic soft materials

Hard-magnetic soft materials comprising a soft matrix embedded with hard-magnetic particles can exhibit large deformations under external magnetic fields, which have attracted much interest due to their non-contact activation, flexible programmability, and rapid response in various applications such as biomedical devices, soft robotics and flexible electronics. Precise predictions of large deformations of hard-magnetic soft materials would be a key for relevant applications. Given that the rational designs in the programmable shape morphing of ferromagnetic structures requires high precision, here we develop a meshfree model based on the radial point interpolation method to quantitatively predict large deformations of hard-magnetic soft materials. We apply the stabilized conforming nodal integration instead of direct nodal integration to eliminate the influence of zero-energy mode, and the central difference scheme is implemented for the resolution procedure. We explore the bending of a hard-magnetic beam and snap buckling of a bistable hard-magnetic beam under external magnetic stimuli. Uniform and non-uniform discretizations are compared to show the insensitivity of the radial point interpolation method to nodal mesh. To demonstrate the versatile programmability of our model in the design of magnetic robotics, we further simulate complex locomotion (crawling, walking and rolling) of hard-magnetic soft robots under external magnetic excitation. The results could be used to guide rational designs of ferromagnetic structures and soft continuum robots.

Programmable Complex Shape Changing of Polysiloxane Main-Chain Liquid Crystalline Elastomers.

Liquid crystal elastomers (LCEs) are shape-morphing materials whose large and reversible shape transformations are caused by the coupling between the mobile anisotropic properties of liquid crystal (LC) units and the rubber elastic of polymer networks. Their shape-changing behaviors under certain stimuli are largely directed by the LC orientation; therefore, various strategies have been developed to spatially modulate the LC alignments. However, most of these methods are limited as they require complex fabrication technologies or have intrinsic limitations in applicability. To address this issue, programmable complex shape changes in some LCE types, such as polysiloxane side-chain LCEs, thiol-acrylate main-chain LCEs, etc., were achieved by using a mechanical alignment programming process coupled with two-step crosslinking. Here, we report a polysiloxane main-chain LCE with programmable 2- and 3D shape-changing abilities that were created by mechanically programming the polydomain LCE with two crosslinking steps. The resulting LCEs exhibited a reversible thermal-induced shape transformation between the initial and programmed shapes due to the two-way memory between the first and second network structures. Our findings expand on the applications of LCE materials in actuators, soft robotics, and smart structures where arbitrary and easily programmed shape morphing is needed.

Inverse design of magneto-active metasurfaces and robots: Theory, computation, and experimental validation

Magneto-active structures can undergo rapid and reversible deformations under untethered magnetic fields. The capability to design such structures to achieve programmable shape morphing in three dimensions (3D) under magnetic actuation is highly desirable for many applications. In this work, we develop a multi-physics topology optimization framework for the inverse design of magneto-active metasurfaces that can undergo programmable shape morphing in 3D under external magnetic fields. These metasurfaces remain planar in their initial configurations and are deformed into complex 3D target shapes. The proposed framework accounts for large-deformation kinematics and optimizes both the topologies and magnetization distributions of metasurfaces in conjunction with the directions and magnitudes of the external magnetic fields. We demonstrate the framework in the design of kirigami metasurfaces, bio-inspired robots with “swimming”, “steering”, “walking”, and “climbing” motions, and multi-modal magnetic actuators, and the optimized designs show high precision and performance in achieving complex 3D deformations. We also use a hybrid fabrication procedure to manufacture representative designs and conduct experimental tests to validate their programmed 3D deformations, with results showing good agreement with simulation predictions. We envision that the proposed framework could lead to a systematic and versatile approach for the design of magneto-active metasurfaces for robotics applications.

Photothermal-Responsive Shape-Memory Magnetic Helical Microrobots with Programmable Addressable Shape Changes

Faced with complex and diverse tasks, researchers seek to introduce stimuli-responsive materials into the field of microrobots. Magnetic helical microrobots based on shape-memory polymers demonstrate excellent locomotion capability and programmable shape transformations. However, the stimulation method of shape changes is still dependent on the rising of ambient temperature and lacks the ability to address individuals among multiple microrobots. In this paper, magnetic helical microrobots were prepared based on polylactic acid and Fe3O4 nanoparticles, which demonstrated controlled locomotion under rotating magnetic fields and programmable shape changes in their length, diameter, and chirality. The transition temperature of shape recoveries was adjusted to a range above 37 °C. At 46 °C, helical microrobots had a fast shape change with a recovery ratio of 72% in a minute. The photothermal effect of Fe3O4 nanoparticles under near-infrared laser can actuate the shape recovery rapidly, with a recovery ratio of 77% in 15 s and 90% in a minute. The stimulation strategy also allows addressing among multiple microrobots, or even within a single microrobot, selectively stimulating one or a part to change its shape. Combined with the magnetic field, laser-addressed shape changes were used for precise deployment and individual control of microrobots. Multiple microrobots can be enriched at the targeted point, heating the ambient temperature over 46 °C. The shape changes of internal parts of microrobots help them to grasp and assemble objects. Such microrobots have great potential in biomedicine and micromanipulation.

Structural and damage analysis of a programmable shape memory locking laminate with large deformation

Smart structures based on shape memory polymer composites (SMPCs) are gradually applied to the aerospace field hosting an ideal combination of properties. The damage behavior of SMPC-based smart structures with large deformations requires mechanism research to satisfy their reliability. In this study, a programmable SMPC-based locking laminate was investigated, which is expected to replace initiating explosives. Firstly, based on fiber buckling theory, fiber-reinforced SMPC locking laminate was designed and analyzed, and the safe allowable area and damage modes were determined. Additionally, the deformation test of the locking laminate based on fiber fabric reinforced SMPC showed that there is two typical damage behavior: matrix cracking and interlayer delamination. For this reason, theoretical analysis was performed to reveal the damage mechanism and initial damage location. The results indicated that the fiber bundle width, arc radius, and thickness were the influencing factors of matrix cracking, while the center angle was the influencing factor of delamination. Finally, finite element analysis shows the validity of the theoretical analysis. This research has potent inspiration and reference significance for the design of SMPC-based smart structures.

Self-folding soft-robotic chains with reconfigurable shapes and functionalities

Magnetic continuum soft robots can actively steer their tip under an external magnetic field, enabling them to effectively navigate in complex in vivo environments and perform minimally invasive interventions. However, the geometries and functionalities of these robotic tools are limited by the inner diameter of the supporting catheter as well as the natural orifices and access ports of the human body. Here, we present a class of magnetic soft-robotic chains (MaSoChains) that can self-fold into large assemblies with stable configurations using a combination of elastic and magnetic energies. By pushing and pulling the MaSoChain relative to its catheter sheath, repeated assembly and disassembly with programmable shapes and functions are achieved. MaSoChains are compatible with state-of-the-art magnetic navigation technologies and provide many desirable features and functions that are difficult to realize through existing surgical tools. This strategy can be further customized and implemented for a wide spectrum of tools for minimally invasive interventions.

Fabrication of photochromic and electrochromic (PVP-am)/WO3/MoO3 hydrogel composites and glass films with programmable shapes

Recently, the fabrication of functional and stimuli-responsive hydrogels using deep eutectic solvent derivatives is gaining tremendous scientific recognition owing to their unique self-switching properties. In this study, perfluorinated deep eutectic mixtures were prepared as the template for the synthesis of WO3/MoO3 composites. The metal oxide-based composites were further employed as a chemical crosslinking agent for the polymerization of polyvinyl pyrrolidine (PVP) and acrylamide (Am), for the construction of (PVP-Am)/WO3/MoO3 hydrogel composites. The hydrogels displayed unique morphologies and mechanical properties. The hydrophilic nature of hydrogels as well as the high concentration of dispersed WO3/MoO3 composites in the polymer network contributes to their photochromic activity and allows an immediate coloration upon exposure to light at a short time. Howbeit, the low concentration of the dispersed WO3/MoO3 composites in the dry glass membrane is responsible for the blue coloration and an extended time of photochromic response. In addition, the electrochromic behavior of the hydrogel composites displayed a strong quasi-rectangular shape potential window as well as a well-defined redox cyclic voltammetry curve when exposed to high voltage. This could be due to the photoredox property of the WO3/MoO3 composites responsible for charge transfer between the different oxidation states.

Programmable shape memory bismaleimide composite claw with two-way grabbing function

• A series of shape memory polymers (SMPs) based on bismaleimide (BMI) were synthesized. The BMI-based polymers are made of a 4,4'-bismaleimidodiphenylmethane (BDM) matrix and chain extender polyether diamine poly(propyleneglycol) bis(2-aminopropylether) (D400). Then crosslinking agent 2,4-tolylene diisocyanate (TDI) was added to form a crosslinking network. Last, it was toughened by adding liquid nitrile rubber (ETBN). • These BMI-based SMPs achieved wide T g ranges of 170-200 °C. This property allows these SMPs to remember two pre-deformed shapes. By designing the second pre-deformed shape similar to the original shape, the 2W-SME can be achieved. • Carbon fabric reinforced BMI-based shape memory composites (SMPCs) were prepared. By exploring the preparation process, the claw structure was formed with this BMI-based SMPC. The composite claw realizes the motion of reach out and grab 250g items. Functional polymer materials with a two-way shape memory effect (2W-SME) have attracted great interest recently. Herein, by introducing 2,4-tolylene diisocyanate (TDI) into the bismaleimide (BMI) network, the shape memory polymers we synthesized are a series thermosetting polymers with adjustable T g and triple-shape memory effect(triple-SME), and realized two-way behavior by programming. Those shape memory polymers (SMPs) were toughened by acrylonitrile-butadienerubber (ETBN) and reinforced with carbon fabric to make composites. The cured network with varying transition temperatures and flexibility was synthesized by varying the cyanate ester and rubber concentration in the system. Polymers with a broad glass transition temperature ( T g ) range can achieve triple-SME. Due to the complex cross-linked structure, the two-way behavior demonstrated above for BMI-based SMPs stem from its broad T g ranges. Select two temperatures higher and lower than T g as the switching temperature, and fix the pre-deformed shape in the opposite direction at these two temperatures to achieve the two-way behavior. These BMI-based SMPs could grab objects through the design of the structure. Results indicated that the above BMI-based SMPs with two-way function have excellent thermal stability and mechanical properties, which provides the basic attempts for the further development of thermosetting SMPs and their composite materials.

Light‐Responsive Programmable Shape‐Memory Soft Actuator Based on Liquid Crystalline Polymer/Polyurethane Network

AbstractLiquid crystalline polymers (LCPs), especially liquid crystalline elastomers (LCEs) can generate ultrahigh shape change amplitude but has lower mechanical strength. Although some attempts have been tried to improve the mechanical performance of LCE, there are still limitations including complicated fabrication and high actuation temperature. Here, a versatile method is reported to fabricate light‐driven actuator by covalently cross‐linking polyurethane (PU) into LCP networks (PULCN). This new scheme is distinct from the previous interpenetrating network strategy, the hydrogen bonds and covalent bonds are used in this study to improve the miscibility of non‐liquid‐crystalline PU and LCP materials and enhance the stability of the composite system. This material not only possesses the shape memory properties of PU but shows shape‐changing behavior of LCPs. With a shrinkage ratio of 20% at the phase transition temperature, the prepared materials reached a maximum mechanical strength of 20 MPa, higher than conventional LCP. Meanwhile, the resulting film shows diverse and programmable initial shapes by constructing crosslinking density gradient across the thickness of the film. By integration of PULCN with near‐infrared light‐responsive polydopamine, local and sequential light control is achieved. This study may provide a new route for the fabrication of programmable and mechanically robust light‐driven soft actuator.

Shape Morphing by Topological Patterns and Profiles in Laser-Cut Liquid Crystal Elastomer Kirigami.

Programming shape changes in soft materials requires precise control of the directionality and magnitude of their mechanical response. Among ordered soft materials, liquid crystal elastomers (LCEs) exhibit remarkable and programmable shape shifting when their molecular order changes. In this work, we synthesized, remotely programmed, and modeled reversible and complex morphing in monolithic LCE kirigami encoded with predesigned topological patterns in its microstructure. We obtained a rich variety of out-of-plane shape transformations, including auxetic structures and undulating morphologies, by combining different topological microstructures and kirigami geometries. The spatiotemporal shape-shifting behaviors are well recapitulated by elastodynamics simulations, revealing that the complex shape changes arise from integrating the custom-cut geometry with local director profiles defined by topological defects inscribed in the material. Different functionalities, such as a bioinspired fluttering butterfly, a flower bud, dual-rotation light mills, and dual-mode locomotion, are further realized. Our proposed LCE kirigami with topological patterns opens opportunities for the future development of multifunctional devices for soft robotics, flexible electronics, and biomedicine.

Mechanochemically assisted morphing of shape shifting polymers.

Morphing in creatures has inspired various synthetic polymer materials that are capable of shape shifting. The morphing of polymers generally relies on stimuli-active (typically heat and light active) units that fix the shape after a mechanical load-based shape programming. Herein, we report a strategy that uses a mechanochemically active 2,2'-bis(2-phenylindan-1,3-dione) (BPID) mechanophore as a switching unit for mechanochemical morphing. The mechanical load on the polymer triggers the dissociation of the BPID moiety into stable 2-phenylindan-1,3-dione (PID) radicals, whose subsequent spontaneous dimerization regenerates BPID and fixes the temporary shapes that can be effectively recovered to the permanent shapes by heating. A greater extent of BPID activation, through a higher BPID content or mechanical load, leads to higher mechanochemical shape fixity. By contrast, a relatively mechanochemically less active hexaarylbiimidazole (HABI) mechanophore shows a lower fixing efficiency when subjected to the same programing conditions. Another control system without a mechanophore shows a low fixing efficiency comparable to the HABI system. Additionally, the introduction of the BPID moiety also manifests remarkable mechanochromic behavior during the shape programing process, offering a visualizable indicator for the pre-evaluation of morphing efficiency. Unlike conventional mechanical mechanisms that simultaneously induce morphing, such as strain-induced plastic deformation or crystallization, our mechanochemical method allows for shape programming after the mechanical treatment. Our concept has potential for the design of mechanochemically programmable and mechanoresponsive shape shifting polymers.

Information storage materials based on liquid crystalline networks with programmable colors and shape memory

Information storage materials based on liquid crystalline networks with programmable colors and shape memory

Nanoarchitectonics composite hydrogels with high toughness, mechanical strength, and self-healing capability for electrical actuators with programmable shape memory properties.

Hydrogel materials show promise in various fields, including flexible electronic devices, biological tissue engineering and wound dressing. Nevertheless, the inadequate mechanical properties, recovery performance, and self-healing speed still constrain the development of intelligent hydrogel materials. To tackle these challenges, we designed a composite hydrogel with high mechanical strength, rapid self-recovery and efficient self-healing ability based on multiple synergistic effects. With the synergistic effect of hydrogen bonds, metal coordination bonds and electrostatic interaction, the synthesized hydrogel could reach a maximum tensile strength of 6.2 MPa and a toughness of 50 MJ m-3. The interaction between the weak polyelectrolyte polyethyleneimine and polyacrylic acid aided in improving the elasticity of the hydrogel, thereby endowing it with prompt self-recovery attributes. The multiple reversible effects also endowed the hydrogel with excellent self-healing ability, and the fractured hydrogel could achieve 95% self-healing within 4 h at room temperature. By the addition of glycerol, the hydrogel could also cope with a variety of extreme environments in terms of moisture retention (12 h, maintaining 80% of its water content) and freeze protection (-36.8 °C) properties. In addition, the composite hydrogels applied in the field of shape memory possessed programmable and reversible shape transformation properties. The polymer chains were entangled at high temperatures to achieve shape fixation, and shape memory was eliminated at low temperatures, which allowed the hydrogels to be reprogrammed and achieve multiple shape transitions. In addition, we also assemble composite hydrogels as actuators and robotic arms for intelligent applications.