4D Printing with Mechanically Robust, Thermally Actuating Hydrogels.

A smart valve is created by 4D printing of hydrogels that are both mechanically robust and thermally actuating. The printed hydrogels are made up of an interpenetrating network of alginate and poly(N-isopropylacrylamide). 4D structures are created by printing the "dynamic" hydrogel ink alongside other static materials.

Pump Up the Jam: Granular Media as a Quasi-Hydraulic Fluid for Independent Control Over Isometric and Isotonic Actuation.

Elastomer-granule composites have been used to switch between soft and stiff states by applying negative pressure differentials that cause the membrane to squeeze the internal grains, inducing dilation and jamming. Applications of this phenomenon have ranged from universal gripping to adaptive mobility. Previously, the combination of this jamming phenomenon with the ability to transport grains across multiple soft actuators for shape morphing has not yet been demonstrated. In this paper, the authors demonstrate the use of hollow glass spheres as granular media that functions as a jammable "quasi-hydraulic" fluid in a fluidic elastomeric actuator that better mimics a key featur of animal musculature: independent control over i) isotonic actuation for motion; and ii) isometric actuation for stiffening without shape change. To best implement the quasi-hydraulic fluid, the authors design and build a fluidic device. Leveraging this combination of physical properties creates a new option for fluidic actuation that allows higher specific stiffness actuators using lower volumetric flow rates in addition to independent control over shape and stiffness. These features are showcased in a robotic catcher's mitt by stiffening the fluid in the glove's open configuration for catching, unjamming the media, then pumping additional fluid to the mitt to inflate and grasp.

3D Printing of Transparent and Conductive Heterogeneous Hydrogel-Elastomer Systems.

A hydrogel-dielectric-elastomer system, polyacrylamide and poly(dimethylsiloxane) (PDMS), is adapted for extrusion printing for integrated device fabrication. A lithium-chloride-containing hydrogel printing ink is developed and printed onto treated PDMS with no visible signs of delamination and geometrically scaling resistance under moderate uniaxial tension and fatigue. A variety of designs are demonstrated, including a resistive strain gauge and an ionic cable.

Three-dimensional printing fiber reinforced hydrogel composites.

An additive manufacturing process that combines digital modeling and 3D printing was used to prepare fiber reinforced hydrogels in a single-step process. The composite materials were fabricated by selectively pattering a combination of alginate/acrylamide gel precursor solution and an epoxy based UV-curable adhesive (Emax 904 Gel-SC) with an extrusion printer. UV irradiation was used to cure the two inks into a single composite material. Spatial control of fiber distribution within the digital models allowed for the fabrication of a series of materials with a spectrum of swelling behavior and mechanical properties with physical characteristics ranging from soft and wet to hard and dry. A comparison with the "rule of mixtures" was used to show that the swollen composite materials adhere to standard composite theory. A prototype meniscus cartilage was prepared to illustrate the potential application in bioengineering.

Extrusion printing of ionic-covalent entanglement hydrogels with high toughness.

Three-dimensional (3D) printing of hydrogels has recently been investigated for use in tissue engineering applications. One major limitation in the use of synthetic hydrogels is their poor mechanical robustness but the development of 'tough hydrogels' in conjunction with additive fabrication techniques will accelerate the advancement of many technologies including soft robotics, bionic implants, sensors and controlled release systems. This article demonstrates that ionic-covalent entanglement (ICE) gels can be fabricated through a modified extrusion printing process that facilitates in situ photopolymerisation. The rheological properties of alginate-acrylamide hydrogel precursor solutions were characterised to develop formulations suitable for extrusion printing. A range of these printed hydrogels were prepared and their mechanical performance and swelling behaviour evaluated. ICE gels exhibit a remarkable mechanical performance because ionic cross links in the biopolymer network act as sacrificial bonds that dissipate energy under stress. The printed ICE gels have a work of extension 260 ± 3 kJ m-3. Swelling the hydrogels in water has a detrimental effect upon their mechanical properties, however swelling the hydrogels in a calcium chloride solution as a post-processing technique reduces the effects of swelling the hydrogels in water. The integration of the modified extrusion printing process with existing plastic 3D printing technologies will allow for the fabrication of functional devices.