Liquid‐Crystalline Soft Actuators with Switchable Thermal Reprogrammability

Thermal reprogrammability is essential for new‐generation large dry soft actuators, but the realization sacrifices the favored actuation performance. The contradiction between thermal reprogrammability and stability hampers efforts to design high‐performance soft actuators to be robust and thermally adaptable. Now, a strategy has been developed that relies on repeatedly switching on/off thermal reprogrammability in liquid‐crystalline elastomer (LCE) actuators to resolve this problem. By post‐synthesis swelling, a latent siloxane exchange reaction can be induced in the common siloxane LCEs (switching on), enabling reprogramming into on‐demand 3D‐shaped actuators; by switching off the dynamic network by heating, actuation stability is guaranteed even at high temperature (180 °C). Using partially black‐ink‐patterned LCEs, selectively switching off reprogrammability allows integration of completely different actuation modes in one monolithic actuator for more delicate and elaborate tasks.     

One-Step Manufacturing of Supramolecular Liquid-Crystal Elastomers by Stress-Induced Alignment and Hydrogen Bond Exchange

Liquid-crystal elastomers (LCEs) capable of performing large and reversible deformation in response to an external stimulus are an important class of soft actuators. However, their manufacturing process typically involves a multistep approach that requires harsh conditions. For the very first time, LCEs with customized geometries that can be manufactured by a rapid one-step approach at room temperature are developed. The LCEs are hydrogen bond (H-bond) crosslinked main chain polymers comprising flexible short side chains. Applying a stretching/shear force to the LCE can simultaneously induce mesogen alignment and H-bond exchange, allowing for the formation of well-aligned LCE networks stabilized by H-bonds. Based on this working principle, soft actuators in fibers and 2D/3D objects can be manufactured by mechanical stretching or melt extrusion within a short time (e.g. <1 min). These actuators can perform reversible macroscopic motions with large, controlled deformations up to 38 %. The dynamic nature of H-bonds also provides the actuators with reprocessability and reprogrammability. Thus, this work opens the way for the one-step and custom manufacturing of soft actuators.     

Programmable and Self-Healable Liquid Crystal Elastomer Actuators Based on Halogen Bonding

Shape-changing polymeric materials have gained significant attention in the field of bioinspired soft robotics. However, challenges remain in versatilizing the shape-morphing process to suit different tasks and environments, and in designing systems that combine reversible actuation and self-healing ability. Here, we report halogen-bonded liquid crystal elastomers (LCEs) that can be arbitrarily shape-programmed and that self-heal under mild thermal or photothermal stimulation. We incorporate halogen-bond-donating diiodotetrafluorobenzene molecules as dynamic supramolecular crosslinks into the LCEs and show that these relatively weak crosslinks are pertinent for their mechanical programming and self-healing. Utilizing the halogen-bonded LCEs, we demonstrate proof-of-concept soft robotic motions such as crawling and rolling with programmed velocities. Our results showcase halogen bonding as a promising, yet unexplored tool for the preparation of smart supramolecular constructs for the development of advanced soft actuators.     

Liquid crystal elastomer actuators: Synthesis,alignment, and applications

Liquid crystal elastomers (LCEs) are a unique class of materials which combine rubber elasticity with the orientational order of liquid crystals. This combination can lead to materials with unique properties such as thermal actuation, anisotropic swelling, and soft elasticity. As such, LCEs are a promising class of materials for applications requiring stimulus response. These unique features and the recent developments of the LCE chemistry and processing will be discussed in this review. First, we emphasize several different synthetic pathways in conjunction with the alignment techniques utilized to obtain monodomain LCEs. We then identify the synthesis and alignment techniques used to synthesis LCE‐based composites. Finally, we discuss how these materials are used as actuators and sensors. © 2017 Wiley Periodicals, Inc. J. Polym. Sci., Part B: Polym. Phys. 2017 , 55, 395–411     

Photomechanics of liquid-crystalline elastomers and other polymers

Muscle is a transducer that can convert chemical energy into mechanical motion. To construct artificial muscles, it is desirable to use soft materials with high mechanical flexibility and durability rather than hard materials such as metals. For effective muscle-like actuation, materials with stratified structures and high molecular orders are necessary. Liquid-crystalline elastomers (LCEs) are superior soft materials that possess both the order of liquid crystals and the elasticity of elastomers (as they contain polymer networks). With the aid of LCEs, it is possible to convert small amounts of external energy into macroscopic amounts of mechanical energy. In this Review, we focus on light as an energy source and describe the recent progress in the area of soft materials that can convert light energy into mechanical energy directly (photomechanical effect), especially the photomechanical effects of LCEs with a view to applications for light-driven LCE actuators.     

Shape memory effect exhibited by smectic-C liquid crystalline elastomers

It was long expected and recently shown that main-chain liquid crystalline elastomers (MC-LCEs) may serve as high performance soft actuators due to a coupling of their intrinsic characteristics of high, yet labile, ordering and network strain. Here, we present the synthesis of new siloxane-based smectic MC-LCEs. These new materials exhibit a unique thermomechanical behavior known as the shape memory effect, which has never been observed before in such LCEs. To achieve targeted transition temperatures required for facile actuation at low temperatures, specifically temperatures ranging from 15 to 65 degrees C, we have designed and prepared such elastomers incorporating two distinct mesogenic groups, termed 5H and 5tB, coupled with hydride-terminated poly(dimethylsiloxane) spacers.     

Reprocessable Thermoset Soft Actuators

Widely used traditional thermosets are good candidates for construction of 3D soft actuators because of their excellent stability; however, it is generally acknowledged that they cannot be reprocessed. The time–temperature equivalence principle enables reprocessing of traditional liquid crystalline epoxy thermosets (LCETs) into 3D soft actuators. Even though the transesterification reaction of LCETs is extremely slow, it is fast enough to induce a topology rearrangement and subsequent reprocessing when prolonging the transesterification time according to aforementioned principle. Therefore, LCETs can be aligned by a simple procedure. The alignment is quite stable at high temperature and remains after more than 1000 heating–cooling actuation cycles. The resulting 3D soft actuators are remouldable, reprogrammable, reconfigurable, weldable, self‐healable, recyclable, and stable, which is impossible for any traditional thermosets and is therefore a compelling advance in terms of the applications open to 3D soft actuators.     

A Novel Side-Chain Liquid Crystal Elastomer Exhibiting Anomalous Reversible Shape Change

Liquid crystalline elastomers (LCEs) have been actively investigated as stimuli-controlled actuators and soft robots. The basis of these applications is the ability of LCEs to undergo a reversible shape change upon a liquid crystalline (LC)-isotropic phase transition. Herein, we report the synthesis of a novel LCE based on a side-chain liquid crystalline polymer (SCLCP). In contrast to known LCEs, this LCE exhibits a striking anomalous shape change. Subjecting a mechanically stretched monodomain strip to LC-disorder phase transition, both the length and width of the strip contract in isotropic phase, and both elongate in LC phase. This thermally induced behaviour is the result of a subtle interplay between the relaxation of polymer main chain oriented along the stretching direction and the disordering of side-group mesogens oriented perpendicularly to the stretching direction. This finding points out potential design of LCEs of this peculiar type and possible applications to exploit.     

A Novel Side‐Chain Liquid Crystal Elastomer Exhibiting Anomalous Reversible Shape Change

Liquid crystalline elastomers (LCEs) have been actively investigated as stimuli‐controlled actuators and soft robots. The basis of these applications is the ability of LCEs to undergo a reversible shape change upon a liquid crystalline (LC)‐isotropic phase transition. Herein, we report the synthesis of a novel LCE based on a side‐chain liquid crystalline polymer (SCLCP). In contrast to known LCEs, this LCE exhibits a striking anomalous shape change. Subjecting a mechanically stretched monodomain strip to LC‐disorder phase transition, both the length and width of the strip contract in isotropic phase, and both elongate in LC phase. This thermally induced behaviour is the result of a subtle interplay between the relaxation of polymer main chain oriented along the stretching direction and the disordering of side‐group mesogens oriented perpendicularly to the stretching direction. This finding points out potential design of LCEs of this peculiar type and possible applications to exploit.     

可多次使用的液晶型类玻璃高分子

通过高温下酯交换反应的进行,含酯键的液晶型类玻璃高分子(liquid crystalline vitrimer),能够通过简单拉伸进行取向,获得随温度变化可逆伸缩的智能材料.在目前已报道的此类主链型高分子中,酯交换剧烈发生需要的临界温度(Tv),与液晶弹性体发生可逆形变的温度(Ti,即液晶相-各向同性相转变温度)相隔较近,导致材料的使用温度范围比较窄,而且多次升降温后,取向及可逆形变会消失.为解决此问题,本文在原来体系的基础上,通过共聚合另外一种液晶基元,有效地降低了Ti,从而拓宽Ti与Tv之间的距离.这不仅使材料的使用次数明显增加,还能延长此类液晶弹性体的使用期限.     

腰接型侧链液晶弹性体研究进展

液晶弹性体是交联型液晶大分子,兼具液晶取向有序性和交联聚合物熵弹性等特性,在传感器、触发器、微流体装置和仿生器件等方面具有很好的应用前景.制备液晶弹性体的微结构,探索其独特的刺激响应性,是目前液晶弹性体研究的重要方向.侧链液晶弹性体的液晶相态类型取决于其液晶基元和主链的连接方式.腰接型侧链液晶弹性体倾向于形成向列型液晶相,具有较快的响应速度和形变程度,是一类独特的液晶弹性体.本文重点介绍腰接型液晶弹性体微结构(如微米柱、微米线等)的制备;利用金纳米粒子的光热转换效应,实现液晶弹性体光响应性的新途径;以及腰接型侧链液晶弹性体仿生微结构的功能性等.同时还对该领域的发展前景进行了展望.     

Bio-inspired fluorescence color-tunable soft actuators with a self-healing and reconfigurable nature

The adaptive behaviors of organisms in response to different environments can inspire the development of smart materials. These biomimetic color-changing actuating materials (BCCAMs) with complex shape memory (SM), self-healing, shape reconfigurable and reprocessing properties may be exactly what the flexible actuators/robots/electronic skins need. Here, we prepared an ultra-high strain (～1600%) soft actuation material with fluorescence changes, self-healing, and SM performance under a single stimulus by a simple method. At the same time, we developed a simple strategy based on welding to achieve actuators that have a reconfiguring three-dimensional (3D) deformation and medium temperature reprocessing. The resulting 3D soft actuators can achieve effective coordination of these functions. Flexible actuators with multiple functions that can be triggered by a single switch are expected to have value in soft robots, flexible electronic skins, and so on.     

Designing tubular conducting polymer actuators for wireless electropumping

Rational design and shaping of soft smart materials offer potential applications that cannot be addressed with rigid systems. In particular, electroresponsive elastic materials are well-suited for developing original active devices, such as pumps and actuators. However, applying the electric stimulus requires usually a physical connection between the active part and a power supply. Here we report about the design of an electromechanical system based on conducting polymers, enabling the actuation of a wireless microfluidic pump. Using the electric field-induced asymmetric polarization of miniaturized polypyrrole tubes, it is possible to trigger simultaneously site-specific chemical reactions, leading to shrinking and swelling in aqueous solution without any physical connection to a power source. The complementary electrochemical reactions occurring at the opposite extremities of the tube result in a differential change of its diameter. In turn, this electromechanical deformation allows inducing highly controlled fluid dynamics. The performance of such a remotely triggered electrochemically active soft pump can be fine-tuned by optimizing the wall thickness, length and inner diameter of the material. The efficient and fast actuation of the polymer pump opens up new opportunities for actuators in the field of fluidic or microfluidic devices, such as controlled drug release, artificial organs and bioinspired actuators.

Tubular conducting polymer actuators are used for developing a wireless electropumping device. Bipolar electrochemistry, allowing symmetry breaking in terms of polarization and electrochemical reactions, is the key ingredient for efficient pumping.     

Nanocellulose-based soft actuators and their applications

Nanocellulose has aroused growing attention in the design and fabrication of multifarious soft actuators thanks to its abundant source, appropriate mechanical properties, and sustainability. In this mini-review, an up-to-date account of recent progresses in nanocellulose-based actuators with homogeneous and heterogeneous structures is provided. The fundamental design concepts and synthesis strategies for nanocellulose-based soft actuators with a wide array of micro-architecture are described. Moreover, their actuation mechanisms, structure–function relationships, and emerging applications in the fields of soft robotics, biomedical science and bioelectronics are highlighted. Finally, a brief conclusion, the current challenges, and future perspectives in the development of nanocellulose-based actuators is presented. This mini-review provides new insights into the fundamental research and the technological application of advanced nanocellulose-based soft actuators.     

Effect of tensile load on the actuation performance of pH‐sensitive hydrogels

pH‐responsive hydrogels are capable of converting chemical energy to mechanical work. To optimize their use as actuators, their response when operating against an external load must be fully characterized. Here, the actuation strain of a model pH‐sensitive hydrogel as a function of different constant loads is studied. The experimental actuation strain, produced by switching the pH from 2 to 12, decreases significantly and monotonically with increasing initial tensile load. Two models are developed to predict the actuation strain as a function of applied stress. Simple mechanical models based on the change in hydrogel modulus and cross sectional area due to the change in pH are unsatisfactory as they predict only a small change in actuation strain with increasing external stress. However, the model based on the elastic and mixing free energy functions derived from the Flory–Huggins theory is found to accurately account for the actuation strain as a function of stress. © 2014 Wiley Periodicals, Inc. J. Polym. Sci., Part B: Polym. Phys. 2015 , 53, 218–225     

Thermoplastic Dielectric Elastomer of Triblock Copolymer with High Electromechanical Performance

Dielectric elastomer (DE) actuators have been shown to have promising applications as soft electromechanical transducers in many emerging technologies. The DE actuators, which are capable of large actuation strain over a wide range of excitation frequencies, are highly desirable. Here, the first single‐component DE of a triblock copolymer with attractive electromechanical performance is reported. Symmetric poly(styrene‐b‐butyl acrylate‐b‐styrene) (SBAS) is designed and synthesized. The SBAS actuator exhibits about 100% static actuation area strain and excellent dynamic performance, as evidenced by a wide half bandwidth of 300 Hz and a very high specific power of 1.2 W g^–1 within the excitation frequency range of 300–800 Hz.     

Synthesis and characterization of two series of pressure-sensitive cholesteric liquid crystal elastomers with optical properties

ABSTRACT

We synthesized two series of cholesteric liquid-crystal elastomers by hydrosilylation among monomers MA containing a cholesteryl group, MB (MC) containing a phenolic hydroxyl group and MD as the crosslinker. The chemical structures of all the monomers and LCEs were confirmed by ¹H NMR and FT-IR. We explored the mesomorphic properties and phase behaviours by TGA, DSC, POM, and XRD. All the LCEs presented elasticity, reversible phase transition, and high thermal stability. For two series of LCEs, the glass transition temperature increased slowly, and the isotropic transition temperature increased obviously. PA-I-PA-V and PB-I-PB-IV displayed selective reflection and colourful Grandjean texture, but PA-VI, PB-V, and PB-VI needed external pressure to show them.     

Characterisation of torsional actuation in highly twisted yarns and fibres

Highly twisted oriented polymer fibres and carbon nanotube yarns show large scale torsional actuation from volume expansion that can be induced, for example, thermally or by electrochemical charging. When formed into spring-like coils, the torsional actuation within the fibre or yarn generates powerful tensile actuation per muscle weight. For further development of these coil actuators and for the practical application of torsional actuators, it is important to standardise methods for characterising both the torsional stroke (rotation) and torque generated. By analogy with tensile actuators, we here introduce a method to measure both the free stroke and blocked torque in a one-end-tethered fibre. In addition, the torsional actuation can be measured when operating against an externally applied torque (isotonic) and actuation against a return spring fibre (variable torque). A theoretical treatment of torsional actuation was formulated using torsion mechanics and evaluated using a commercially available highly-oriented polyamide fibre. Good agreement between experimental measurements and calculated values was obtained. The analysis allows the prediction of torsional stroke under any external loading condition based on the fundamental characteristics of the actuator: free stroke and stiffness.     

Multimodal Self-sustainable Autonomous Locomotions of Light-driven Seifert Ribbon Actuators based on Liquid Crystal Elastomers

Multimodal self-sustainable autonomous locomotions integrated into one individual system, are high-level intelligent behavioral characteristics of living organisms and are the scientific hotspot of bionic soft actuators. Here, we report a light-fueled soft actuator with multimodal self-sustainable movements based on a Seifert ribbon bounded by a Hopf link. The Seifert ribbon actuator can self-sense the illumination area adjustment, and the actuation component becomes either a discontinuous strip-like structure or a continuous toroidal structure, which can realize adaptive switches between self-sustained oscillatory and rotary motions. The two motion modes are applied to the self-oscillatory piezoelectric generation and self-rotational work multiplication of cargo transport, respectively. The unique smartness of Seifert surface topology advances the level of actuation intelligence with broad implications for the adaptability, multifunctionality, and autonomy of soft robots.     

Thiol‐acrylate main‐chain liquid‐crystalline elastomers with tunable thermomechanical properties and actuation strain

The purpose of this study was to investigate the influence of cross‐linking on the thermomechanical behavior of liquid‐crystalline elastomers (LCEs). Main‐chain LCE networks were synthesized via a thiol‐acrylate Michael addition reaction. The robust nature of this reaction allowed for tailoring of the behavior of the LCEs by varying the concentration and functionality of the cross‐linker. The isotropic rubbery modulus, glass transition temperature, and strain‐to‐failure showed strong dependence on cross‐linker concentration and ranged from 0.9 MPa, 3 °C, and 105% to 3.2 MPa, 25 °C, and 853%, respectively. The isotropic transition temperature (T_i) was shown to be influenced by the functionality of the cross‐linker, ranging from 70 °C to 80 °C for tri‐ and tetra‐functional cross‐linkers. The magnitude of actuation can be tailored by controlling the amount of cross‐linker and applied stress. Actuation increased with increased applied stress and decreased with greater amounts of cross‐linking. The maximum strain actuation achieved was 296% under 100 kPa of bias stress, which resulted in work capacity of 296 kJ/m³ for the lowest cross‐linked networks. Overall, the experimental results provide a fundamental insight linking thermomechanical properties and actuation to a homogenous polydomain nematic LCE networks with order parameters of 0.80 when stretched. © 2016 Wiley Periodicals, Inc. J. Polym. Sci., Part B: Polym. Phys. 2017 , 55, 157–168