Liquid Crystal Networks Meet Water: It's Complicated!

Soft robots are composed of compliant materials that facilitate high degrees of freedom, shape-change adaptability, and safer interaction with humans. An attractive choice of material for soft robotics is crosslinked networks of liquid crystal polymers (LCNs), as they are responsive to a wide variety of external stimuli and capable of undergoing fast, programmable, complex shape morphing, which allows for their use in a wide range of soft robotic applications. However, unlike hydrogels, another popular material in soft robotics, LCNs have limited applicability in flooded or aquatic environments. This can be attributed not only to the poor efficiency of common LCN actuation methods underwater but also to the complicated relationship between LCNs and water. In this review, the relationship between water and LCNs is elaborated and the existing body of literature is surveyed where LCNs, both hygroscopic and non-hygroscopic, are utilized in aquatic soft robotic applications. Then the challenges LCNs face in widespread adaptation to aquatic soft robotic applications are discussed and, finally, possible paths forward for their successful use in aquatic environments are envisaged.

Light-Induced Nanoscale Deformation in Azobenzene Thin Film Triggers Rapid Intracellular Ca2+ Increase via Mechanosensitive Cation Channels.

Epithelial cells are in continuous dynamic biochemical and physical interaction with their extracellular environment. Ultimately, this interplay guides fundamental physiological processes. In these interactions, cells generate fast local and global transients of Ca2+ ions, which act as key intracellular messengers. However, the mechanical triggers initiating these responses have remained unclear. Light-responsive materials offer intriguing possibilities to dynamically modify the physical niche of the cells. Here, a light-sensitive azobenzene-based glassy material that can be micropatterned with visible light to undergo spatiotemporally controlled deformations is used. Real-time monitoring of consequential rapid intracellular Ca2+ signals reveals that the mechanosensitive cation channel Piezo1 has a major role in generating the Ca2+ transients after nanoscale mechanical deformation of the cell culture substrate. Furthermore, the studies indicate that Piezo1 preferably responds to shear deformation at the cell-material interphase rather than to absolute topographical change of the substrate. Finally, the experimentally verified computational model suggests that Na+ entering alongside Ca2+ through the mechanosensitive cation channels modulates the duration of Ca2+ transients, influencing differently the directly stimulated cells and their neighbors. This highlights the complexity of mechanical signaling in multicellular systems. These results give mechanistic understanding on how cells respond to rapid nanoscale material dynamics and deformations.

Correction: A visible-light-driven molecular motor based on barbituric acid.

[This corrects the article DOI: 10.1039/D3SC03090C.].

Disequilibrating azobenzenes by visible-light sensitization under confinement.

Photoisomerization of azobenzenes from their stable E isomer to the metastable Z state is the basis of numerous applications of these molecules. However, this reaction typically requires ultraviolet light, which limits applicability. In this study, we introduce disequilibration by sensitization under confinement (DESC), a supramolecular approach to induce the E-to-Z isomerization by using light of a desired color, including red. DESC relies on a combination of a macrocyclic host and a photosensitizer, which act together to selectively bind and sensitize E-azobenzenes for isomerization. The Z isomer lacks strong affinity for and is expelled from the host, which can then convert additional E-azobenzenes to the Z state. In this way, the host-photosensitizer complex converts photon energy into chemical energy in the form of out-of-equilibrium photostationary states, including ones that cannot be accessed through direct photoexcitation.

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.

A visible-light-driven molecular motor based on barbituric acid.

We present a class of visible-light-driven molecular motors based on barbituric acid. Due to a serendipitous reactivity we observed during their synthesis, these motors possess a tertiary stereogenic centre on the upper half, characterised by a hydroxy group. Using a combination of femto- and nanosecond transient absorption spectroscopy, molecular dynamics simulations and low-temperature 1H NMR experiments we found that these motors operate similarly to push-pull second-generation overcrowded alkene-based molecular motors. Interestingly, the hydroxy group at the stereocentre enables a hydrogen bond with the carbonyl groups of the barbituric acid lower half, which drives a sub-picosecond excited-state isomerisation, as observed spectroscopically. Computational simulations predict an excited state "lasso" mechanism where the intramolecular hydrogen bond pulls the molecule towards the formation of the metastable state, with a high predicted quantum yield of isomerisation (68%) in gas phase.

Optically Controlled Construction of Three-Dimensional Protein Arrays.

Protein crystallization is an important tool for structural biology and nanostructure preparation. Here, we report on kinetic pathway-dependent protein crystals that are controlled by light. Photo-responsive crystallites are obtained by complexing the model proteins with cationic azobenzene dyes. The crystalline state is readily switched to a dispersed phase under ultraviolet light and restored by subsequent visible-light illumination. The switching can be reversibly repeated for multiple cycles without noticeable structure deterioration. Importantly, the photo-treatment not only significantly increases the crystallinity, but creates crystallites at conditions where no ordered lattices are observed upon directly mixing the components. Further control over the azobenzene isomerization kinetics produces protein single crystals of up to ≈50 µm. This approach offers an intriguing method to fabricate metamaterials and study optically controlled crystallization.

Light-driven peristaltic pumping by an actuating splay-bend strip.

Despite spectacular progress in microfluidics, small-scale liquid manipulation, with few exceptions, is still driven by external pumps and controlled by large-scale valves, increasing cost and size and limiting complexity. By contrast, optofluidics uses light to power, control and monitor liquid manipulation, potentially allowing for small, self-contained microfluidic devices. Here we demonstrate a soft light-propelled actuator made of liquid crystal gel that pumps microlitre volumes of water. The strip of actuating material serves as both a pump and a channel leading to an extremely simple microfluidic architecture that is both powered and controlled by light. The performance of the pump is well explained by a simple theoretical model in which the light-induced bending of the actuator competes with the liquid's surface tension. The theory highlights that effective pumping requires a threshold light intensity and strip width. The proposed system explores the benefits of shifting the complexity of microfluidic systems from the fabricated device to spatio-temporal control over stimulating light patterns.

Red-light photoswitching of indigos in polymer thin films.

Through simple synthetic derivatisation, the parent indigo dye becomes a red-light E-Z photoswitch exhibiting negative photochromism and tuneable thermal isomerisation kinetics. These attributes make indigo derivatives extremely attractive for applications related to materials and living systems. However, there is a lack of knowledge in translating indigo photoswitching dynamics from solution to solid state - the environment crucial for most applications. Herein, we study the photoswitching performance of six structurally distinct indigo derivatives in five polymers of varying rigidity. Three key strategies are identified to enable efficient photoswitching under red (660 nm) light: (i) choosing a soft polymer matrix to minimise its resistance toward the isomerisation, (ii) creating free volume around the indigo molecules through synthetic modifications, and (iii) applying low dye loading (<1% w/w) to inhibit aggregation. These strategies are shown to improve both photostationary state distributions and the thermal stability of the Z isomer. When all three strategies are implemented, the isomerisation performance (>80% Z form in the photostationary state) is nearly identical to that in solution. These findings thus pave the way for designing new red-light photochromic materials based on indigos.

Light-Fueled Nonreciprocal Self-Oscillators for Fluidic Transportation and Coupling.

Light-fueled self-oscillators based on soft actuating materials have triggered novel designs for small-scale robotic constructs that self-sustain their motion at non-equilibrium states and possess bioinspired autonomy and adaptive functions. However, the motions of most self-oscillators are reciprocal, which hinders their use in sophisticated biomimetic functions such as fluidic transportation. Here, an optically powered soft material strip that can perform nonreciprocal, cilia-like, self-sustained oscillation under water is reported. The actuator is made of planar-aligned liquid crystal elastomer responding to visible light. Two laser beams from orthogonal directions allow for piecewise control over the strip deformation, enabling two self-shadowing effects coupled in one single material to yield nonreciprocal strokes. The nonreciprocity, stroke pattern and handedness are connected to the fluidic pumping efficiency, which can be controlled by the excitation conditions. Autonomous microfluidic pumping in clockwise and anticlockwise directions, translocation of a micro-object by liquid propulsion, and coupling between two oscillating strips through liquid medium interaction are demonstrated. The results offer new concepts for non-equilibrium soft actuators that can perform bio-like functions under water.

Halogen-bonded shape memory polymers.

Halogen bonding (XB), a non-covalent interaction between an electron-deficient halogen atom and a Lewis base, is widely adopted in organic synthesis and supramolecular crystal engineering. However, the roadmap towards materials applications is hindered by the challenges in harnessing this relatively weak intermolecular interaction to devise human-commanded stimuli-responsive soft materials. Here, we report a liquid crystalline network comprising permanent covalent crosslinks and dynamic halogen bond crosslinks, which possess reversible thermo-responsive shape memory behaviour. Our findings suggest that I···N halogen bond, a paradigmatic motif in crystal engineering studies, enables temporary shape fixation at room temperature and subsequent shape recovery in response to human body temperature. We demonstrate versatile shape programming of the halogen-bonded polymer networks through human-hand operation and propose a micro-robotic injection model for complex 1D to 3D shape morphing in aqueous media at 37 °C. Through systematic structure-property-performance studies, we show the necessity of the I···N crosslinks in driving the shape memory effect. The halogen-bonded shape memory polymers expand the toolbox for the preparation of smart supramolecular constructs with tailored mechanical properties and thermoresponsive behaviour, for the needs of, e.g., future medical devices.

Feedback-controlled hydrogels with homeostatic oscillations and dissipative signal transduction.

Driving systems out of equilibrium under feedback control is characteristic for living systems, where homeostasis and dissipative signal transduction facilitate complex responses. This feature not only inspires dissipative dynamic functionalities in synthetic systems but also poses great challenges in designing novel pathways. Here we report feedback-controlled systems comprising two coupled hydrogels driven by constant light, where the system can be tuned to undergo stable homeostatic self-oscillations or damped steady states of temperature. We demonstrate that stable temperature oscillations can be utilized for dynamic colours and cargo transport, whereas damped steady states enable signal transduction pathways. Here mechanical triggers cause temperature changes that lead to responses such as bending motions inspired by the single-touch mechanoresponse in Mimosa pudica and the frequency-gated snapping motion inspired by the plant arithmetic in the Venus flytrap. The proposed concepts suggest generalizable feedback pathways for dissipative dynamic materials and interactive soft robotics.

Analysis of light diffraction by azobenzene-based photoalignment layers.

Photoalignment materials, such as the azobenzene-based PAAD series studied here, are becoming increasingly important in liquid crystal-based optical devices and displays. Yet their properties and, in particular, their response to light, are still not fully understood. We investigate, experimentally and theoretically, the photoinduced birefringence, the order parameter and the formation of surface relief gratings, as well as the diffraction caused by them. We show that some of the azobenzene PAAD materials are suitable for the formation of surface relief gratings with high modulation depth, while others exhibit strong photoinduced birefringence. The two effects are inversely correlated: the stronger the surface relief grating is, the weaker is photoinduced birefringence. Analytical formulas based on the Raman-Nath approximation and numerical simulations of Maxwell's equations are used to quantify the diffraction caused by the induced diffraction gratings, showing excellent agreement between theory and experiment.

Humidity-Controlled Tunable Emission in a Dye-Incorporated Metal-Hydrogel-Metal Cavity.

Actively controllable photoluminescence is potent for a wide variety of applications from biosensing and imaging to optoelectronic components. Traditionally, methods to achieve active emission control are limited due to complex fabrication processes or irreversible tuning. Here, we demonstrate active emission tuning, achieved by changing the ambient humidity in a fluorescent dye-containing hydrogel integrated into a metal-insulator-metal (MIM) system. Altering the overlapping region of the MIM cavity resonance and the absorption and emission spectra of the dye used is the underlying principle to achieving tunability of the emission. We first verify this by passive tuning of cavity resonance and further experimentally demonstrate active tuning in both air and aqueous environments. The proposed approach is reversible, easy to integrate, and spectrally scalable, thus providing opportunities for developing tunable photonic devices.

New tricks and emerging applications from contemporary azobenzene research.

Azobenzenes have many faces. They are well-known as dyes, but most of all, azobenzenes are versatile photoswitchable molecules with powerful photochemical properties. Azobenzene photochemistry has been extensively studied for decades, but only relatively recently research has taken a steer towards applications, ranging from photonics and robotics to photobiology. In this perspective, after an overview of the recent trends in the molecular design of azobenzenes, we highlight three research areas where the azobenzene photoswitches may bring about promising technological innovations: chemical sensing, organic transistors, and cell signaling. Ingenious molecular designs have enabled versatile control of azobenzene photochemical properties, which has in turn facilitated the development of chemical sensors and photoswitchable organic transistors. Finally, the power of azobenzenes in biology is exemplified by vision restoration and photactivation of neural signaling. Although the selected examples reveal only some of the faces of azobenzenes, we expect the fields presented to develop rapidly in the near future, and that azobenzenes will play a central role in this development.

Light-Fueled Polymer Film Capable of Directional Crawling, Friction-Controlled Climbing, and Self-Sustained Motion on a Human Hair.

Recent efforts in stimuli-responsive soft materials have enabled wirelessly controlled actuation with increasing degrees of freedom, yielding miniature robots capable of various locomotion in open environments such as on a plane or inside fluids. However, grand challenges remain in harnessing photomechanical deformation to induce locomotion and control of friction during the movement, especially for robotic actuations within constrained spaces. Here, the authors report a centimeter-long polymer strip made of a liquid crystal network that is capable of versatile light-fueled motions along a human hair. The soft polymer robot can translocate directionally upon temporally modulated excitation and climb vertically through friction control with light. A self-oscillating strip is demonstrated to continuously translocate along the hair upon a constant light stimulus, and its gaiting is associated to the smoothness of the hair surface. The results offer new insights to small-scale photo-actuator, mechanical control, and automation in soft micro robotics.

Towards low-energy-light-driven bistable photoswitches: ortho-fluoroaminoazobenzenes.

Thermally stable photoswitches that are driven with low-energy light are rare, yet crucial for extending the applicability of photoresponsive molecules and materials towards, e.g., living systems. Combined ortho-fluorination and -amination couples high visible light absorptivity of o-aminoazobenzenes with the extraordinary bistability of o-fluoroazobenzenes. Herein, we report a library of easily accessible o-aminofluoroazobenzenes and establish structure-property relationships regarding spectral qualities, visible light isomerization efficiency and thermal stability of the cis-isomer with respect to the degree of o-substitution and choice of amino substituent. We rationalize the experimental results with quantum chemical calculations, revealing the nature of low-lying excited states and providing insight into thermal isomerization. The synthesized azobenzenes absorb at up to 600 nm and their thermal cis-lifetimes range from milliseconds to months. The most unique example can be driven from trans to cis with any wavelength from UV up to 595 nm, while still exhibiting a thermal cis-lifetime of 81 days.

Photoelastic plasmonic metasurfaces with ultra-large near infrared spectral tuning.

Metasurfaces, consisting of artificially fabricated sub-wavelength meta-atoms with pre-designable electromagnetic properties, provide novel opportunities to a variety of applications such as light detectors/sensors, local field imaging and optical displays. Currently, the tuning of most metasurfaces requires redesigning and reproducing the entire structure, rendering them ineligible for post-fabrication shape-morphing or spectral reconfigurability. Here, we report a photoelastic metasurface with an all-optical and reversible resonance tuning in the near infrared range. The photoelastic metasurface consists of hexagonal gold nanoarrays deposited on a deformable substrate made of a liquid crystalline network. Upon photo-actuation, the substrate deforms, causing the lattice to change and, as a result, the plasmon resonance to shift. The centre wavelength of the plasmon resonance exhibits an ultra-large spectral tuning of over 245 nm, from 1490 to 1245 nm, while the anisotropic deformability also endows light-switchable sensitivity in probing polarization. The proposed concept establishes a light-controlled soft platform that is of great potential for tunable/reconfigurable photonic devices, such as nano-filters, -couplers, -holograms, and displays with structural colors.

Stimulus-driven liquid metal and liquid crystal network actuators for programmable soft robotics.

Sophisticated soft matter engineering has been endorsed as an emerging paradigm for developing untethered soft robots with built-in electronic functions and biomimetic adaptation capacities. However, the integration of flexible electronic components into soft robotic actuators is challenging due to strain mismatch and material incompatibilities. Herein, we report a general strategy to integrate electrically conductive liquid metals (LMs) and shape-morphing liquid crystal networks (LCNs) towards multifunctional and programmable soft robotics. A unique colloidal LM ink with superior adhesion and photothermal conversion efficiency was judiciously designed and fabricated by ultrasonicating LMs and miniature carboxylated gold nanorods (MiniGNR-COOH) in an aqueous suspension of biological bacterial cellulose. The designed nanocellulose-based colloidal LM ink is used for shape-deformable and electrically conductive LM-LCN soft robots that can be electro- and photo-thermally actuated. As proof-of-concept demonstrations, we present a light-fueled soft oscillator, an inchworm-inspired soft crawler and programmable robotic Shadow Play exhibiting multifunctional controllability. The strategy disclosed here could open up a new technological arena for advanced multifunctional soft materials with potential utility in bioinspired soft machines, integrated soft electronics, human-computer interaction and beyond.