Dynamic control of shape can bring multifunctionality to devices. Soft materials capable of programmable shape change require localized control of the magnitude and directionality of a mechanical response. We report the preparation of soft, ordered materials referred to as liquid crystal elastomers. The direction of molecular order, known as the director, is written within local volume elements (voxels) as small as 0.0005 cubic millimeters. Locally, the director controls the inherent mechanical response (55% strain) within the material. In monoliths with spatially patterned director, thermal or chemical stimuli transform flat sheets into three-dimensional objects through controlled bending and stretching. The programmable mechanical response of these materials could yield monolithic multifunctional devices or serve as reconfigurable substrates for flexible devices in aerospace, medicine, or consumer goods.

Artificial muscles are of practical interest, but few types have been commercially exploited. Typical problems include slow response, low strain and force generation, short cycle life, use of electrolytes, and low energy efficiency. We have designed guest-filled, twist-spun carbon nanotube yarns as electrolyte-free muscles that provide fast, high-force, large-stroke torsional and tensile actuation. More than a million torsional and tensile actuation cycles are demonstrated, wherein a muscle spins a rotor at an average 11,500 revolutions/minute or delivers 3% tensile contraction at 1200 cycles/minute. Electrical, chemical, or photonic excitation of hybrid yarns changes guest dimensions and generates torsional rotation and contraction of the yarn host. Demonstrations include torsional motors, contractile muscles, and sensors that capture the energy of the sensing process to mechanically actuate.

Three-dimensional structures capable of reversible changes in shape, i.e., four-dimensional-printed structures, may enable new generations of soft robotics, implantable medical devices, and consumer products. Here, thermally responsive liquid crystal elastomers (LCEs) are direct-write printed into 3D structures with a controlled molecular order. Molecular order is locally programmed by controlling the print path used to build the 3D object, and this order controls the stimulus response. Each aligned LCE filament undergoes 40% reversible contraction along the print direction on heating. By printing objects with controlled geometry and stimulus response, magnified shape transformations, for example, volumetric contractions or rapid, repetitive snap-through transitions, are realized.

We report a fabrication method for flexible and printable thermal sensors based on composites of semicrystalline acrylate polymers and graphite with a high sensitivity of 20 mK and a high-speed response time of less than 100 ms. These devices exhibit large resistance changes near body temperature under physiological conditions with high repeatability (1,800 times). Device performance is largely unaffected by bending to radii below 700 μm, which allows for conformal application to the surface of living tissue. The sensing temperature can be tuned between 25°C and 50°C, which covers all relevant physiological temperatures. Furthermore, we demonstrate flexible active-matrix thermal sensors which can resolve spatial temperature gradients over a large area. With this flexible ultrasensitive temperature sensor we succeeded in the in vivo measurement of cyclic temperatures changes of 0.1°C in a rat lung during breathing, without interference from constant tissue motion. This result conclusively shows that the lung of a warm-blooded animal maintains surprising temperature stability despite the large difference between core temperature and inhaled air temperature. T emperature control plays a very important role in homeostasis, and body temperature varies both spatially and temporally in an effort to transfer heat between the living body and the environment via skin and respiratory organs. Accurate measurement of localized temperature changes in soft tissue regardless of large-scale motion is important in understanding thermal phenomena of homeostasis and realizing future sophisticated health diagnostics (1-3). Therefore, flexible temperature sensors which softly interface with tissue have been investigated frequently for applications in the medical field. However, these applications require the combination of sensitivity, fast response time, stability in physiological environments, and multipoint measurement. Before this work, to our knowledge, no experiment has simultaneously demonstrated orders-of-magnitude changes in electrical properties (sensitivity) repeatedly at varying physiological temperatures and conditions (stability) in a robust, easy-to-fabricate, flexible temperature sensor (processability).When sensors and electronics are directly attached to the surface of an animal body, the use of soft and flexible electronic devices is expected to reduce mechanical stress induced on the body. From this viewpoint, the field of flexible electronics has attracted much attention recently. The ability to gather information such as pressure and temperature from curvilinear and dynamic surfaces without impairing the movement or usability of the users is unmatched by conventional silicon electronics. There have been reports of the potential application of flexible electrodes on ultrathin substrates (4), flexible sensors that measure biological signals, electrocardiograms, temperature, pressure (5, 6), organic amplifier systems (7), high-sensitivity pressure sensors (8), and ultrathin and imperceptible devices (9, 10).To meas...

Three-dimensional structures that undergo reversible shape changes in response to mild stimuli enable a wide range of smart devices, such as soft robots or implantable medical devices. Herein, a dual thiol-ene reaction scheme is used to synthesize a class of liquid crystal (LC) elastomers that can be 3D printed into complex shapes and subsequently undergo controlled shape change. Through controlling the phase transition temperature of polymerizable LC inks, morphing 3D structures with tunable actuation temperature (28 ± 2 to 105 ± 1 °C) are fabricated. Finally, multiple LC inks are 3D printed into single structures to allow for the production of untethered, thermo-responsive structures that sequentially and reversibly undergo multiple shape changes.

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.

Natural soft tissue achieves a rich variety of functionality through a hierarchy of molecular, microscale, and mesoscale structures and ordering. Inspired by such architectures, we introduce a soft, multifunctional composite capable of a unique combination of sensing, mechanically robust electronic connectivity, and active shape morphing. The material is composed of a compliant and deformable liquid crystal elastomer (LCE) matrix that can achieve macroscopic shape change through a liquid crystal phase transition. The matrix is dispersed with liquid metal (LM) microparticles that are used to tailor the thermal and electrical conductivity of the LCE without detrimentally altering its mechanical or shape-morphing properties. Demonstrations of this composite for sensing, actuation, circuitry, and soft robot locomotion suggest the potential for versatile, tissue-like multifunctionality.

Although guest-filled carbon nanotube yarns provide record performance as torsional and tensile artificial muscles, they are expensive, and only part of the muscle effectively contributes to actuation. We describe a muscle type that provides higher performance, in which the guest that drives actuation is a sheath on a twisted or coiled core that can be an inexpensive yarn. This change from guest-filled to sheath-run artificial muscles increases the maximum work capacity by factors of 1.70 to 2.15 for tensile muscles driven electrothermally or by vapor absorption. A sheath-run electrochemical muscle generates 1.98 watts per gram of average contractile power-40 times that for human muscle and 9.0 times that of the highest power alternative electrochemical muscle.Theory predicts the observed performance advantages of sheath-run muscles.