Temperature sensing using junctions between mobile ions and mobile electrons.

Sensing technology is under intense development to enable the Internet of everything and everyone in new and useful ways. Here we demonstrate a method of stretchable and self-powered temperature sensing. The basic sensing element consists of three layers: an electrolyte, a dielectric, and an electrode. The electrolyte/dielectric interface accumulates ions, and the dielectric/electrode interface accumulates electrons (in either excess or deficiency). The ions and electrons at the two interfaces are usually not charge-neutral, and this charge imbalance sets up an ionic cloud in the electrolyte. The design functions as a charged temperature-sensitive capacitor. When temperature changes, the ionic cloud changes thickness, and the electrode changes open-circuit voltage. We demonstrate high sensitivity (∼1 mV/K) and fast response (∼10 ms). Such temperature sensors can be made small, stable, and transparent. Depending on the arrangement of the electrolyte, dielectric, and electrode, we develop four designs for the temperature sensor. In addition, the temperature sensor has good linearity in the range of tens of Kelvin. We further show that the temperature sensors can be integrated into stretchable electronics and soft robots.

Photo-actuators via epitaxial growth of microcrystal arrays in polymer membranes.

Photomechanical crystals composed of three-dimensionally ordered and densely packed photochromes hold promise for high-performance photochemical actuators. However, bulk crystals with high structural ordering are severely limited in their flexibility, resulting in poor processibility and a tendency to fragment upon light exposure, while previous nano- or microcrystalline composites have lacked global alignment. Here we demonstrate a photon-fuelled macroscopic actuator consisting of diarylethene microcrystals in a polyethylene terephthalate host matrix. These microcrystals survive large deformations and show a high degree of three-dimensional ordering dictated by the anisotropic polyethylene terephthalate, which critically also has a similar stiffness. Overall, these ordered and compliant composites exhibit rapid response times, sustain a performance of over at least hundreds of cycles and generate work densities exceeding those of single crystals. Our composites represent the state-of-the-art for photochemical actuators and enable properties unattainable by single crystals, such as controllable, reversible and abrupt jumping (photosalient behaviour).

Modulating photothermocapillary interactions for logic operations at the air-water interface.

We demonstrate a system for performing logical operations (OR, AND, and NOT gates) at the air-water interface based on Marangoni optical trapping and repulsion between photothermal particles. We identify a critical separation distance at which the trapped particle assemblies become unstable, providing insight into the potential for scaling to larger arrays of logic elements.

Coupled oscillation and spinning of photothermal particles in Marangoni optical traps.

Cyclic actuation is critical for driving motion and transport in living systems, ranging from oscillatory motion of bacterial flagella to the rhythmic gait of terrestrial animals. These processes often rely on dynamic and responsive networks of oscillators-a regulatory control system that is challenging to replicate in synthetic active matter. Here, we describe a versatile platform of light-driven active particles with interaction geometries that can be reconfigured on demand, enabling the construction of oscillator and spinner networks. We employ optically induced Marangoni trapping of particles confined to an air-water interface and subjected to patterned illumination. Thermal interactions among multiple particles give rise to complex coupled oscillatory and rotational motions, thus opening frontiers in the design of reconfigurable, multiparticle networks exhibiting collective behavior.

Effect of surface tension on elastocapillary wrinkling of interfacially adsorbed hydrogel disks with photothermally programmed swelling profiles.

In this work, we study the influence of surface tension on light-induced wrinkling of hydrogel disks containing patterned regions of photothermally-active gold nanoparticles at the air-water interface. The disks, which are initially radially stretched by the air-water surface tension, undergo wrinkling under illumination through a radially nonuniform photothermal deswelling. By tuning the surface tension of the surrounding air-water interface through variations in concentration of a poly(vinyl alcohol) surfactant, we observe a critical threshold for wrinkling, followed by a monotonic decrease in wrinkle number with decreasing surface tension. Finite element simulations performed to better understand this behavior reveal qualitatively similar trends as the experiments. The insights provided into elastocapillarity-mediated wrinkling may guide future efforts to control interfacial behaviour of reconfigurable and shape-morphing films.

A nonlinear beam model of photomotile structures.

Actuation remains a significant challenge in soft robotics. Actuation by light has important advantages: Objects can be actuated from a distance, distinct frequencies can be used to actuate and control distinct modes with minimal interference, and significant power can be transmitted over long distances through corrosion-free, lightweight fiber optic cables. Photochemical processes that directly convert photons to configurational changes are particularly attractive for actuation. Various works have reported light-induced actuation with liquid crystal elastomers combined with azobenzene photochromes. We present a simple modeling framework and a series of examples that study actuation by light. Of particular interest is the generation of cyclic or periodic motion under steady illumination. We show that this emerges as a result of a coupling between light absorption and deformation. As the structure absorbs light and deforms, the conditions of illumination change, and this, in turn, changes the nature of further deformation. This coupling can be exploited in either closed structures or with structural instabilities to generate cyclic motion.

Controlled Diels-Alder "Click" Strategy to Access Mechanically Aligned Main-Chain Liquid Crystal Networks.

Aligned liquid crystal polymers are materials of interest for electronic, optic, biological and soft robotic applications. The manufacturing and processing of these materials have been widely explored with mechanical alignment establishing itself as a preferred method due to its ease of use and widespread applicability. However, the fundamental chemistry behind the required two-step polymerization for mechanical alignment has limitations in both fabrication and substrate compatibility. In this work we introduce a new protection-deprotection approach utilizing a two-stage Diels-Alder cyclopentadiene-maleimide step-growth polymerization to enable mild yet efficient, fast, controlled, reproducible and user-friendly polymerizations, broadening the scope of liquid crystal systems. Thorough characterization of the films by DSC, DMA, POM and WAXD show the successful synthesis of a uniaxially aligned liquid crystal network with thermomechanical actuation abilities.

Triplet-Triplet Annihilation Photopolymerization for High-Resolution 3D Printing.

Two-photon polymerization (TPP) currently offers the highest resolution available in 3D printing (∼100 nm) but requires femtosecond laser pulses at very high peak intensity (∼1 TW/cm2). Here, we demonstrate 3D printing based on triplet-triplet-annihilation photopolymerization (TTAP), which achieves submicron resolution while using a continuous visible LED light source with comparatively low light intensity (∼10 W/cm2). TTAP enables submicrometer feature sizes with exposure times of ∼0.1 s/voxel without requiring a coherent or pulsed light source, opening the door to low-cost fabrication with submicron resolution. This approach enables 3D printing of a diverse array of designs with high resolution and is amenable to future parallelization efforts.

Formation of rolls from liquid crystal elastomer bistrips.

Formation of desired three-dimensional (3D) shapes from flat thin sheets with programmed non-uniform deformation profiles is an effective strategy to create functional 3D structures. Liquid crystal elastomers (LCEs) are of particular use in programmable shape morphing due to their ability to undergo large, reversible, and anisotropic deformation in response to a stimulus. Here we consider a rectangular monodomain LCE thin sheet divided into one high- and one low-temperature strip, which we dub a 'bistrip'. Upon activation, a discontinuously patterned, anisotropic in-plane stretch profile is generated, and induces buckling of the bistrip into a rolled shape with a transitional bottle neck. Based on the non-Euclidean plate theory, we derive an analytical model to quantitatively capture the formation of the rolled shapes from a flat bistrip with finite thickness by minimizing the total elastic energy involving both stretching and bending energies. Using this analytical model, we identify the critical thickness at which the transition from the unbuckled to buckled configuration occurs. We further study the influence of the anisotropy of the stretch profile on the rolled shapes by first converting prescribed metric tensors with different anisotropy to a unified metric tensor embedded in a bistrip of modified geometry, and then investigating the effect of each parameter in this unified metric tensor on the rolled shapes. Our analysis sheds light on designing shape morphing of LCE thin sheets, and provides quantitative predictions on the 3D shapes that programmed LCE sheets can form upon activation for various applications.

Geometry-controlled instabilities for soft-soft adhesive interfaces.

Soft materials interfaces can develop complex morphologies, such as cavities or finger-like features, during separation as a result of a mechanical instability. While the onset and growth of these instabilities have been investigated previously for interfaces between rigid and soft materials, no existing predictive model provides insight for controlling the separation morphology associated with these instabilities when both "sides" of the interface are soft. Here, we expand previous models to account for the geometry and materials properties of two soft materials that form an interface. The total compliance of the system, which depends nonlinearly on the thickness of each contacting soft material, plays a primary role in governing the morphology of the separating interface. We validate this model with experimental measurements using a series of soft elastomers with varying layer thicknesses and fixed materials properties, in order to emphasize the geometry alone can give rise to the observed differences in the interface separation process. This model also demonstrates that the degree of geometric asymmetry, or the ratio of the layer thicknesses that form an interface, influences the stress experienced in either layer, thus providing a rich means of controlling how unstable interface separations develop and propagate. This framework is a powerful tool to understand and control adhesion mechanisms in fields ranging from biology to soft robotics, and provides intuition for engineering a separation mode for a desired end result.

Robust folding of elastic origami.

Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns that can achieve a variety of target shapes, recent work has also made clear that many origami structures exhibit multiple folding pathways, with a proliferation of geometric folding pathways as the origami structure becomes complex. The competition between these pathways can lead to structures that are programmed for one shape, yet fold incorrectly. To disentangle the features that lead to misfolding, we introduce a model of self-folding origami that accounts for the finite stretching rigidity of the origami faces and allows the computation of energy landscapes that lead to misfolding. We find that, in addition to the geometrical features of the origami, the finite elasticity of the nearly-flat origami configurations regulates the proliferation of potential misfolded states through a series of saddle-node bifurcations. We apply our model to one of the most common origami motifs, the symmetric "bird's foot," a single vertex with four folds. We show that though even a small error in programmed fold angles induces metastability in rigid origami, elasticity allows one to tune resilience to misfolding. In a more complex design, the "Randlett flapping bird," which has thousands of potential competing states, we further show that the number of actual observed minima is strongly determined by the structure's elasticity. In general, we show that elastic origami with both stiffer folds and less bendable faces self-folds better.

Simultaneous control of Gaussian curvature and buckling direction by swelling of asymmetric trilayer hydrogel hybrids.

Trilayer polymer films consisting of a thermoresponsive hydrogel, poly(diethyl acrylamide) (PDEAM), sandwiched by rigid layers of a glassy polymer, poly(para-methylstyrene) (PpMS), patterned into parallel striped features are prepared and used to drive temperature-responsive reversible anisotropic expansion. Significant swelling occurs along the direction perpendicular to the stripes, while very little swelling is observed along the direction parallel to the stripes, leading to an overall swelling anisotropy of 1.17. Introducing a difference Δ in the widths of the stripes on the top to bottom surfaces causes the films to roll upon swelling, where both the magnitude and sign of the resulting curvature can be controlled by varying Δ. Using patterns of concentric circular lines (analogous to +1 defects in liquid crystalline polymers), we demonstrate the swelling-induced formation of cone-like shapes, where the buckling direction of each unit can be programmed through local variations in Δ. This trilayer concept provides a simple way to simultaneously control both the Gaussian curvature and direction of buckling in shape-morphing hydrogels, with advantages for accessing smaller length-scales compared to existing methods.

Polymer Zwitterions for Stabilization of CsPbBr3 Perovskite Nanoparticles and Nanocomposite Films.

Functional polymers with sulfobetaine or phosphorylcholine zwitterions as pendent groups are demonstrated as both ligands and host matrices for CsPbBr3 perovskite nanoparticles (PNPs). These polymers produce nanocomposite films with excellent NP dispersion, optical transparency, and impressive resistance to NP degradation upon exposure to water. Multidentate interactions of the zwitterion-containing copolymers with the PNPs induce dispersed or weakly aggregated nanocomposite morphologies, depending on the extent of zwitterionic functionality in the polymer. Incorporating additional functionality into the polymers, such as benzophenone pendent groups, yields lithographically patternable films, while time-resolved photoluminescence measurements provide insight into the electronic impact of PNPs in zwitterionic polymer matrices.

Shape-Morphing Materials from Stimuli-Responsive Hydrogel Hybrids.

The formation of well-defined and functional three-dimensional (3D) structures by buckling of thin sheets subjected to spatially nonuniform stresses is common in biological morphogenesis and has become a subject of great interest in synthetic systems, as such programmable shape-morphing materials hold promise in areas including drug delivery, biomedical devices, soft robotics, and biomimetic systems. Given their ability to undergo large changes in swelling in response to a wide variety of stimuli, hydrogels have naturally emerged as a key type of material in this field. Of particular interest are hybrid systems containing rigid inclusions that can define both the anisotropy and spatial nonuniformity of swelling as well as nanoparticulate additives that can enhance the responsiveness and functionality of the material. In this Account, we discuss recent progress in approaches to achieve well-defined shape morphing in hydrogel hybrids. First, we provide an overview of materials and methods that facilitate fabrication of such systems and outline the geometry and mechanics behind shape morphing of thin sheets. We then discuss how patterning of stiff inclusions within soft responsive hydrogels can be used to program both bending and swelling, thereby providing access to a wide array of complex 3D forms. The use of discretely patterned stiff regions to provide an effective composite response offers distinct advantages in terms of scalability and ease of fabrication compared with approaches based on smooth gradients within a single layer of responsive material. We discuss a number of recent advances wherein control of the mechanical properties and geometric characteristics of patterned stiff elements enables the formation of 3D shapes, including origami-inspired structures, concatenated helical frameworks, and surfaces with nonzero Gaussian curvature. Next, we outline how the inclusion of functional elements such as nanoparticles can enable unique pathways to programmable and even reprogrammable shape-morphing materials. We focus to a large extent on photothermally reprogrammable systems that include one of a variety of additives that serve to efficiently absorb light and convert it into heat, thereby driving the response of a temperature-sensitive hydrogel. Such systems are advantageous in that patterns of light can be defined with very high spatial and temporal resolution in addition to offering the potential for wavelength-selective addressability of multiple different inclusions. We highlight recent advances in the preparation of light-responsive hybrid systems capable of undergoing reprogrammable bending and buckling into well-defined 3D shapes. In addition, we describe several examples where shape tuning of hybrid systems enables control over the motion of responsive hydrogel-based materials. Finally, we offer our perspective on open challenges and future areas of interest for the field.

Photothermocapillary Oscillators.

We present a new class of tunable light-driven oscillators based on mm-scale objects adsorbed at fluid interfaces. A fixed light source induces photothermal surface tension gradients (Marangoni stresses) that drive nanocomposite hydrogel discs away from a stable apex position atop a drop of water. The capillary forces on the disc increase with surface curvature; thus, they act to restore the disc to its original position. As the disc reenters the light source it again experiences Marangoni propulsion, leading to sustained oscillation for appropriate conditions. Propulsive forces can be modulated with incident light intensity, while the restoring force can be tuned via surface curvature-i.e., drop volume-providing highly tunable oscillatory behaviors. To our knowledge, this is the first example where Marangoni and capillary forces combine to incite sustained motion. As such, a model was developed that describes this behavior and provides key insights into the underlying control parameters. We expect that this simple approach will enable the study of more complex and coupled oscillatory systems.

Formation of high aspect ratio wrinkles and ridges on elastic bilayers with small thickness contrast.

An elastic bilayer composed of a stiff film bonded to a soft substrate forms wrinkles under compression. While these uniform and periodic wrinkles initially grow in amplitude with applied strain, the onset of secondary bifurcations such as period doubling typically limit the aspect ratio (i.e., amplitude divided by wavelength) of wrinkles that can be achieved. Here, we present a simple strategy that employs a supported bilayer with comparable thicknesses of the film and substrate to achieve wrinkles with higher aspect ratio. We use both experiments and finite element simulations to reveal that at small thickness contrast, period doubling can be delayed, allowing the wrinkles to grow uniformly to high aspect ratio. In addition, we show that the periodic wrinkles can evolve through symmetry breaking and transition to a periodic pattern of ridges with even higher aspect ratio.

Assembly of P3HT/CdSe nanowire networks in an insulating polymer host.

Nanoparticles may act as compatibilizing agents for blending of immiscible polymers, leading to changes in blend morphology through a variety of mechanisms including interfacial adsorption, aggregation, and nucleation of polymer crystals. Herein, we report an approach to define highly structured donor/acceptor networks based on poly(3-hexylthiophene) (P3HT) and CdSe quantum dots (QDs) by demixing from an insulating polystyrene (PS) matrix. The incorporation of QDs led to laterally phase-separated co-continuous structures with sub-micrometer dimensions, and promoted crystallization of P3HT, yielding highly interconnected P3HT/QD hybrid nanowires embedded in the polymer matrix. These nanohybrid materials formed by controlling phase separation, interfacial activity, and crystallization within ternary donor/acceptor/insulator blends, offer attractive morphologies for potential use in optoelectronics.

Overcurvature induced multistability of linked conical frusta: how a 'bendy straw' holds its shape.

We study the origins of multiple mechanically stable states exhibited by an elastic shell comprising multiple conical frusta, a geometry common to reconfigurable corrugated structures such as 'bendy straws'. This multistability is characterized by mechanical stability of axially extended and collapsed states, as well as a partially inverted 'bent' state that exhibits stability in any azimuthal direction. To understand the origin of this behavior, we study how geometry and internal stress affect the stability of linked conical frusta. We find that tuning geometrical parameters such as the frustum heights and cone angles can provide axial bistability, whereas stability in the bent state requires a sufficient amount of internal pre-stress, resulting from a mismatch between the natural and geometric curvatures of the shell. We provide insight into the latter effect through curvature analysis during deformation using X-ray computed tomography (CT), and with a simple mechanical model that captures the qualitative behavior of these highly reconfigurable systems.

Geometrically controlled snapping transitions in shells with curved creases.

Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains to wrinkled membranes and programmable metamaterials. While the well-known rules and mechanisms behind folding a flat surface have been used to create deployable structures and shape transformable materials, folding of curved shells is still not fundamentally understood. Shells naturally deform by simultaneously bending and stretching, and while this coupling gives them great stability for engineering applications, it makes folding a surface of arbitrary curvature a nontrivial task. Here we discuss the geometry of folding a creased shell, and demonstrate theoretically the conditions under which it may fold smoothly. When these conditions are violated we show, using experiments and simulations, that shells undergo rapid snapping motion to fold from one stable configuration to another. Although material asymmetry is a proven mechanism for creating this bifurcation of stability, for the case of a creased shell, the inherent geometry itself serves as a barrier to folding. We discuss here how two fundamental geometric concepts, creases and curvature, combine to allow rapid transitions from one stable state to another. Independent of material system and length scale, the design rule that we introduce here explains how to generate snapping transitions in arbitrary surfaces, thus facilitating the creation of programmable multistable materials with fast actuation capabilities.

Origami structures with a critical transition to bistability arising from hidden degrees of freedom.

Origami is used beyond purely aesthetic pursuits to design responsive and customizable mechanical metamaterials. However, a generalized physical understanding of origami remains elusive, owing to the challenge of determining whether local kinematic constraints are globally compatible and to an incomplete understanding of how the folded sheet's material properties contribute to the overall mechanical response. Here, we show that the traditional square twist, whose crease pattern has zero degrees of freedom (DOF) and therefore should not be foldable, can nevertheless be folded by accessing bending deformations that are not explicit in the crease pattern. These hidden bending DOF are separated from the crease DOF by an energy gap that gives rise to a geometrically driven critical bifurcation between mono- and bistability. Noting its potential utility for fabricating mechanical switches, we use a temperature-responsive polymer-gel version of the square twist to demonstrate hysteretic folding dynamics at the sub-millimetre scale.