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A Laser Thermal-Curing Printing: Integrating Fabrication, Reparability, Reconfigurability, and reprogrammability for Magnetic Soft Robots

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ACS APPLIED MATERIALS & INTERFACES 2025年第16期17卷 24390-24401页

作者： Zhao, Yilin Yi, Longju Li, Yunfan Zeng, Ziran Liu, Zhe Ren, Tian-Ling Ruan, Yong Liu, Feng Wuhan Univ Sch Power & Mech Engn Wuhan 430072 Hubei Peoples R China

Untethered magnetic soft robots can broaden the working scenarios of robots and have numerous potential applications in space exploration, industry, and medicine. However, existing magnetic soft robots face challenges such as limited reparability, difficulty expanding functions, and difficulty adjusting motion mode. Herein, an efficient and comprehensive laser thermal-curing printing method is proposed for magnetic soft robots. In this method, the directionality and photothermal effect of the infrared laser and thermal-curing property of thermosetting resin are utilized to achieve efficient fabrication, precise repair, and seamless reconstruction of thermosetting resin-based magnetic soft robots. Besides, the method enables reprogrammability of magnetic soft robots by exploiting photothermal-induced demagnetization. Further, the laser thermal-curing printing method is applied to repair a gyro robot for controlled movement;to reconstruct an underwater robot for salvaging cargo, a robot for repairing electrical circuit, and a wheel robot with three-dimensional structure;and to reprogram the motion of a six-leaf magnetic soft robot. These applications demonstrate that the laser thermal-curing printing method achieves the integration of fabrication, reparability, reconfigurability, and reprogrammability for soft robot, which is expected to drive a paradigm shift in soft robotics manufacturing and provide a groundbreaking strategy for fabricating magnetic soft robots with complex structures.

关键词： magnetic soft robots laser thermal-curing printing reparability reconfigurability reprogrammability

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Liquid crystalline elastomer actuators with dynamic covalent bonding: Synthesis, alignment, reprogrammability, and self-healing

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CURRENT OPINION IN SOLID STATE & MATERIALS SCIENCE 2023年第3期27卷

作者： Das, Gautam Park, Soo-Young Kyungpook Natl Univ Sch Appl Chem Engn Polymer Nanomat Lab Daegu 41566 South Korea

Liquid crystalline elastomers (LCEs) have demonstrated tremendous potential in applications such as soft robotics, biomedical materials, electronics, sensors, and biomimetic systems. The physical properties of LCEs are controlled by the degree of crosslinking, nature of the mesogens, and mesogen orientation in the LCE network structure. A wide range of dynamic covalent bonds (DCBs) capable of dynamic bond exchange reactions (DBERs) have been introduced into LCE structures to obtain intelligent materials in recent decades. In this review article, we discuss the molecular constitution, macrostructure, morphing mechanism, recent advances in LCEs with dynamic covalent bonds, the influence of DCBs on self-healing, reprogramming and reprocessing properties of LCE actuators, and challenges and opportunities in incorporating dynamic chemistry in the field of LCE actuators.

关键词： Liquid crystalline elastomer Dynamic covalent bonding Actuators Self-healing reprogrammability

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Cross-boundary Behavioural reprogrammability Reveals Evidence of Pervasive Universality

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INTERNATIONAL JOURNAL OF UNCONVENTIONAL COMPUTING 2018年第4-5期13卷 309-357页

作者： Riedel, Juergen Zenil, Hector Carl von Ossietzky Univ Oldenburg Oldenburg Germany LABORES Algorithm Nat Grp Paris France Univ Oxford Dept Comp Sci Oxford England Karolinska Inst Unit Computat Med Algorithm Dynam Lab Stockholm Sweden SciLifeLab Stockholm Sweden

We exhaustively explore the reprogrammability capabilities and the intrinsic universality of the Cartesian product P x C of the space P of all possible computer programs of increasing size and the space C of all possible compilers of increasing length such that p is an element of P emulates p' is an element of P with T vertical bar p'vertical bar = vertical bar p vertical bar under a coarse-graining transformation T. Our approach yields a novel perspective on the complexity, controllability, causality and (re) programmability discrete dynamical systems. We find evidence that the density of (qualitatively different) computer programs that can be reprogrammed grows asymptotically as a function of program and compiler size. To illustrate these findings we show a series of behavioural boundary crossing results, including emulations (for all initial conditions) of Wolfram class 2 Elementary Cellular Automata (ECA) by Class 1 ECA, emulations of Classes 1, 2 and 3 ECA by Class 2 and 3 ECA, and of Classes 1, 2 and 3 by Class 3 ECA, along with results of even greater emulability for general CA (neighbourhood r = 3/2), including Class 1 CA emulating Classes 2 and 3, and Classes 3 and 4 emulating all other classes (1, 2, 3 and 4). The emulations occur with only a linear overhead and can be considered computationally efficient. We also found that there is no hacking strategy to compress the search space based on compiler profiling in terms of e.g. similarity or complexity, suggesting that no strategy other than exhaustive search is viable. We also introduce emulation networks, derive a topologicallybased measure of complexity based upon out-and in-degree connectivity, and establish bridges to fundamental ideas of complexity, universality, causality and dynamical systems.

关键词： Cellular automata intrinsic universality sensitivity computer simulation automata theory compilers dynamical systems reprogrammability causality turing-universality controllability

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Hierarchically Reconfigurable Soft Robots with Reprogrammable Multimodal Actuation

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ADVANCED FUNCTIONAL MATERIALS 2025年第4期35卷

作者： Fang, Fuyi Li, Wenbo Guo, Xinyu Chen, Huyue Meng, Guang Zhang, Wenming Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Tongji Univ Sch Aerosp Engn & Appl Mech Shanghai 200092 Peoples R China Shanghai Jiao Tong Univ Univ Michigan Joint Inst Shanghai 200240 Peoples R China

Reconfigurable soft robots exhibit superior flexibility and adaptability when coping with complex environments and variable tasks. However, conventional modular design strategy based on soft actuator modules with specific structure and actuation mode as the basic constructing element for reconfigurable soft robots always has limited reprogrammability or scalability. Here, a hierarchical reconfigurable strategy is reported that not only offers conventional module reconfiguration as the first level to build different robot prototypes, but also provides the elastically-guided multimodal actuation (contraction, bend, and twist) as the second level which can be reprogrammed to construct different actuator modules. This strategy deepens the modularity to a higher dimensionality and provides more choices for robots to adjust various conformations and functions as needed, for example, a peristalsis robot, an omnidirectional crawling robot, and a soft manipulator can be easily constructed using the module-level reconfiguration. Moreover, soft manipulators with various preprogrammed deformation trajectories based on the mode reconfiguration are proven to dramatically reduce the operation difficulty and cost in potential applications such as environment detection and human-robot interaction. This work provides a hierarchical framework for reconfigurable soft robots and may open up a new way for modular design. A new concept of hierarchically reconfigurable strategy and elastically-guided multimodal actuation design principle for modular soft robots is reported in this work. With the delicate experiments and analysis, the performances of the modules are revealed. Subsequently, multiple types of robots are demonstrated, including a tube-detecting robot, a planar omnidirectional crawling robot, and several soft manipulators. image

关键词： elastically-guided multimodal actuation hierarchical reconfigurability reprogrammability soft robots

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On-demand Reprogrammable Mechanical Metamaterial Driven by Structure Performance Relations

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ADVANCED MATERIALS 2025年第9期37卷 e2410865页

作者： Wei, Yuling Pan, Fei Lin, Xin Zhang, Lei Xiang, Jinwu Chen, Yuli Beihang Univ Inst Solid Mech Beijing 100191 Peoples R China Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China Tianmushan Lab Hangzhou 310023 Peoples R China

The physical reprogrammability of metamaterials provides unprecedented opportunities for tailoring changeable mechanical behaviors. It is envisioned that metamaterials can actively, precisely, and rapidly reprogram their performances through digital interfaces toward varying demands. However, on-demand reprogramming by integration of physical and digital merits still remains less explored. Here, a real-time reprogrammable mechanical metamaterial is reported that is guided by its own structure-performance relations. The metamaterial consists of periodically tessellated bistable building blocks with built-in soft actuators for state switching, exhibiting rich spatial heterogeneity. Guided by the pre-established relations between state sequences and stress-strain curves, the metamaterial can accurately match a target curve by digitally tuning its state within 4 s. The metamaterial can be elastically tensioned and compressed under a strain of 4%, and its modulus tuning ratio reaches >30. Moreover, it also shows highly tunable shearing and bending performances. This work provides a new thought for the physical performance reprogrammability of artificial intelligent systems.

关键词： bistability mechanical performance metamaterial reprogrammability

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Reprogrammable shape morphing hydrogel modulated by synergistic photochromism and photoactuation

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CHEMICAL ENGINEERING JOURNAL 2025年 511卷

作者： Peng, Xinyang Li, Hui Xu, Jie Lan, Changming Liu, Junqiu Wu, Baiheng Hangzhou Normal Univ Coll Mat Chem & Chem Engn Key Lab Organosilicon Chem & Mat Technol Zhejiang Key Lab Organosilicon Mat Technol Hangzhou 311121 Zhejiang Peoples R China

Hydrogels with reprogrammable shape morphing have been widely embraced by the fields of smart robots, sensors, wearable devices and biomedicines. Programming shape morphing without the application of external stress remains a significant challenge. In this study, we introduce photochromic cadmium sulfide quantum dots (CdS QDs) to develope hybrid hydrogels capable of undergoing reversible color change, serving as a differentiated photothermal antenna for reprogramming of complex deformation. Our strategy leverages the synergetic photochromic and photothermal effects, which are individually controlled by patterned UV irradiation and global vis-IR irradiation. This method demonstrates non-contact photo-responsive characteristics, real-time reconfigurability and on-demand reprogrammability, enabling shape morphing hydrogel to perform functions such as 3D/4D information encryption, object manipulation, and logic circuit control.

关键词： reprogrammability Shape morphing hydrogel Photochromism CdS quantum dots 3D printing

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Reprogrammable soft actuators based on a photochromic organic-inorganic hybrid membrane with modulatable NIR photothermal conversion

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JOURNAL OF COLLOID AND INTERFACE SCIENCE 2025年 692卷 137460页

作者： Cui, Xingchen Liu, Zhezhi Yi, Zhihui Zhang, Bing Gao, Xing Fan, Fuqiang Fu, Yu Wu, Junbiao Wang, Tieqiang Northeastern Univ Coll Sci Dept Chem Shenyang 110819 Peoples R China Shenyang Univ Chem Technol Coll Sci Shenyang 110142 Peoples R China Sichuan Univ Sci & Engn Sch Chem & Environm Engn Zigong 643000 Peoples R China

Shape-transformation soft actuators that can quickly respond to external stimuli have been potential candidates in biomimetic soft robots and flexible driving devices. However, the lack of shape reprogrammability restricts their complexity of deformation as well as reusability in practical application. Herein, we present a unique reprogrammable actuator based on asymmetric bilayer compounding with UV-modulated photochromic complex (NEU20) through a sequential polymerization process. The UV-induced electron transfer photochromic behavior synergistic with NIR photothermal effect of NEU20 fillers endows the soft actuator with rapid (similar to 90 degrees/s) and customizable actuation under external NIR stimuli. Through the joint modulation of UV exposure region and duration, the UV-induced photothermal conversion efficiency is also adjustable at each local, facilitating the spatio-temporally programmable actuation process of the hybrid bilayer actuator. Significantly, the programmed actuation process of the actuator also features thermal-erasing and UV-reprogramming capacities, highlighting the unique recyclability of the hybrid actuator. In addition, the proposed reprogrammable actuator also demonstrates good universality in combination with other thermal-responsive active material systems. This work offers insight into the design and fabrication of reprogrammable soft actuators, shining enlightenment for potential application in bioinspired soft robots and smart mechanical devices.

关键词： Photo-responsive materials Soft actuator reprogrammability Dynamic photochromic complex Photothermal conversion

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Reprogrammable Humidity-Driven Liquid Crystalline Polymer Actuator Enabled by Dynamic Ionic Bonds

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ACS APPLIED MATERIALS & INTERFACES 2022年第15期14卷 17869-17877页

作者： Wang, Zizheng Lan, Ruochen Bao, Jinying Shen, Chen Huang, Rui Song, Chenjie Zhang, Lanying Yang, Huai Peking Univ Sch Mat Sci & Engn Beijing 100871 Peoples R China Minist Educ Key Lab Polymers Chem & Phys Beijing 100871 Peoples R China Univ Sci & Technol Beijing Sch Mat Sci & Engn Beijing 100871 Peoples R China Capital Med Univ Beijing Anzhen Hosp Dept Ophthalmol Beijing 100029 Peoples R China

Liquid crystalline polymer (LCP) is a promising candidate in the design and fabrication of intelligent soft materials due to the combination of programmable anisotropy and elasticity. Here, a novel strategy to fabricate reprogrammable humidity-responsive LCP materials enabled by dynamic ionic cross-links were put forward. The prepared LCP film deforms reversibly with the change of relative humidity (RH). However, the humidity responsivity loses after soaking the film into CaCl2 solution because of the lock of hygroscopic groups by the formed ionic bonds. By selectively cross-linking specific regions of the LCP film, distinctive humidity-driven motions of the film could be realized. More interestingly, by the EDTA-2K solution treatment, ionic cross-links can be interrupted, leading the LCP film responsive to humidity again. Thanks to feasibly removable ionic cross-links, the humidity-directed soft actuator was totally reprogrammable. The behavior of the novel actuator could be manipulated by either the mesogens alignment or the spatially ionic treatment, providing a feasible but robust strategy to fabricate complex humidity-driven soft robots.

关键词： humidity-driven actuator reprogrammability liquid crystalline polymer ionic bond dynamic cross-link

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

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ADVANCED MATERIALS 2024年第34期36卷 2303969-2303969页

作者： Chen, Mei Hou, Yanbei An, Ran Qi, H. Jerry Zhou, Kun Nanyang Technol Univ Singapore Ctr Printing 3D Sch Mech & Aerosp Engn Singapore 639798 Singapore Nanyang Technol Univ Sch Mech & Aerosp Engn HP NTU Digital Mfg Corp Lab Singapore 639798 Singapore Georgia Inst Technol Sch Mech Engn Atlanta GA 30332 USA

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. A 4D printable photochromic titanium-based nanocrystal (TiNC)/liquid crystal elastomer (LCE) composite ink is developed, which enables reprogrammable photochromism and photoactuation of a single 4D-printed TiNC/LCE object. Through the precise control over the structural design and light irradiation, the printed object can be globally or locally programmed, erased, and reprogrammed to achieve desirable photocontrollable color patterns and 3D structure ***

关键词： 4D printing liquid crystal elastomers photochromism photothermal actuation reprogrammability

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Reprogramming multi-stable snapping and energy dissipation in origami metamaterials through panel confinement

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PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES 2024年第2283期382卷 20240005页

作者： Almessabi, Abdulrahman Li, Xuwen Jamalimehr, Amin Pasini, Damiano McGill Univ Dept Mech Engn Montreal PQ H3A 0G4 Canada

With a focus on a class of origami-inspired metamaterials, this work explores the role of panel confinement in their mechanical response under cyclic loading. The goal is twofold: (i) quantify the magnitude change in snapping force and energy dissipation attained by varying the severity of confinement of selected panels;and (ii) leverage insights to modulate in situ their mechanical response as dictated by a given application, hence propose panel confinement modulation as a practical design route for response reprogrammability. Through computational modelling, proof-of-concept fabrication and cyclic testing, we first identify and characterize the governing factors enabling either the alteration or the preservation of the snapping force magnitude during repeated cycles of forward and backward loading. Then, we demonstrate how the in situ modulation of the constrained distance between selected panels enables reprogramming their snapping sequence and energy dissipation. The results contribute to expanding the versatility and application of this class of origami metamaterial across sectors, from aerospace to protective equipment, requiring precise control of mechanical damping and energy *** article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

关键词： origami metamaterials multi-stability energy dissipation reprogrammability

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