Hard- and Soft-Coded Strain Stiffening in Metamaterials via Out-of-Plane Buckling Using Highly Entangled Active Hydrogel Elements.

Metamaterials show elaborate mechanical behavior such as strain stiffening, which stems from their unit cell design. However, the stiffening response is typically programmed in the design step and cannot be adapted postmanufacturing. Here, we show hydrogel metamaterials with highly programmable strain-stiffening responses by exploiting the out-of-plane buckling of integrated pH-switchable hydrogel actuators. The stiffening upon reaching a certain extension stems from the initially buckled active hydrogel beams. At low strain, the beams do not contribute to the mechanical response under tension until they straighten with a resulting step-function increase in stiffness. In the hydrogel actuator design, the acrylic acid concentration hard-codes the configuration of the metamaterial and range of possible stiffening onsets, while the pH soft-codes the exact stiffening onset point after fabrication. The utilization of out-of-plane buckling to realize subsequent stiffening without the need to deform the passive structure extends the application of hydrogel actuators in mechanical metamaterials. Our concept of out-of-plane buckled active elements that stiffen only under tension enables strain-stiffening metamaterials with high programmability before and after fabrication.

Bio-Inspired Pressure-Dependent Programmable Mechanical Metamaterial with Self-Sealing Ability.

Self-sealing is one of the fascinating functions in nature that enables living material systems to respond immediately to damage. A prime plant model is Delosperma cooperi, which can rapidly self-seal damaged succulent leaves by systematically deforming until the wound closes. Inspired by this self-sealing principle, a novel programmable mechanical metamaterial has been developed to mimic the underlying damage management concept. This material is able to react autonomously to changes in its physical condition caused by an induced damage. To design this ability into the programmable metamaterial, a permeable unit cell design has been developed that can change size depending on the internal pressure. The parameter space and associated mechanical functionality of the unit cell design is simulated and analyzed under periodic boundary conditions and various pressures. The principles of self-sealing behavior in designed metamaterials are investigated, crack closure efficiency is identified for different crack lengths, the limitations of the proposed approach are discussed, and successful crack closure is experimentally demonstrated in the fabricated metamaterial. Although this study facilitates the first step on the way of integrating new bio-inspired principles in the metamaterials, the results show how programmable mechanical metamaterials might extend materials design space from pure properties to life-like abilities.

The bumpy road to friction control.

The frictional properties of material interfaces can be rationally designed.

4D Printed Shape-Memory Elastomer for Thermally Programmable Soft Actuators.

Polymeric shape-memory elastomers can recover to a permeant shape from any programmed deformation under external stimuli. They are mostly cross-linked polymeric materials and can be shaped by three-dimensional (3D) printing. However, 3D printed shape-memory polymers so far only exhibit elasticity above their transition temperature, which results in their programmed shape being inelastic or brittle at lower temperatures. To date, 3D printed shape-memory elastomers with elasticity both below and above their transition temperature remain an elusive goal, which limits the application of shape-memory materials as elastic materials at low temperatures. In this paper, we printed, for the first time, a custom-developed shape-memory elastomer based on polyethylene glycol using digital light processing, which possesses elasticity and stretchability in a wide temperature range, below and above the transition temperature. Young's modulus in these two states can vary significantly, with a difference of up to 2 orders of magnitude. This marked difference in Young's modulus imparts excellent shape-memory properties to the material. The difference in Young's modulus at different temperatures allows for the programming of the pneumatic actuators by heating and softening specific areas. Consequently, a single actuator can exhibit distinct movement modes based on the programming process it undergoes.

Early career scientists converse on the future of soft robotics.

During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.

Programmable Auxeticity in Hydrogel Metamaterials via Shape-Morphing Unit Cells.

Mechanical metamaterials recruit unique mechanical behavior that is unavailable in bulk materials from a periodic unit cell structure with a specific geometry. However, such metamaterials can typically not be reconfigured once manufactured. Herein, the authors introduce shape morphing of a hydrogel metamaterial via spatio-selective integration of responsive actuating elements to reconfigure the mesoscale unit cell geometry to reach programmable auxeticity on the macroscale. Via thermal control, the unit cell angle of a honeycomb structure can be precisely programmed from 68° to 107°. This results in negative, zero, or positive Poisson's ratio under applied tensile strain. The geometrical reconfiguration with resulting programmable auxeticity is predicted and verified by finite element (FE) simulation. This concept of shape-morphing hydrogel metamaterials via the addition of actuating struts into otherwise passive architectures offers a new strategy for reconfigurable metamaterials and extends applications of hydrogels in general. It can be readily extended to other architectures and may find applications in mechanical computing as well as soft robotics.

Planar Mechanical Metamaterials with Embedded Permanent Magnets.

The design space of mechanical metamaterials can be drastically enriched by the employment of non-mechanical interactions between unit cells. Here, the mechanical behavior of planar metamaterials consisting of rotating squares is controlled through the periodic embedment of modified elementary cells with attractive and repulsive configurations of the magnets. The proposed design of mechanical metamaterials produced by three-dimensional printing enables the efficient and quick reprogramming of their mechanical properties through the insertion of the magnets into various locations within the metamaterial. Experimental and numerical studies reveal that under equibiaxial compression various mechanical characteristics, such as buckling strain and post-buckling stiffness, can be finely tuned through the rational placement of the magnets. Moreover, this strategy is shown to be efficient in introducing bistability into the metamaterial with an initially single equilibrium state.

Fault-tolerant elastic-plastic lattice material.

The paper describes a fault-tolerant design of a special two-dimensional beam lattice. The morphology of such lattices was suggested in the theoretical papers (Cherkaev and Ryvkin 2019 Arch. Appl. Mech. 89, 485-501; Cherkaev and Ryvkin 2019 Arch. Appl. Mech. 89, 503-519), where its superior properties were found numerically. The proposed design consists of beam elements with two different thicknesses; the lattice is macro-isotropic and stretch dominated. Here, we experimentally verify the fault-tolerant properties of these lattices. The specimens were three-dimensional-printed from the VeroWhite elastoplastic material. The lattice is subjected to uniaxial tensile loading. Due to its morphology, the failed beams are evenly distributed in the lattice at the initial stage of damage; at this stage, the material remains intact, preserves its bearing ability, and supports relatively high strains before the final failure. At the initial phase of damage, the thinner beams buckle; then another group of separated thin beams plastically yield and rupture. The fatal macro-crack propagates after the distributed damage reaches a critical level. This initial distributed damage stage allows for a better energy absorption rate before the catastrophic failure of the structure. The experimental results are supported by simulations which confirm that the proposed fault-tolerant material possesses excellent energy absorption properties thanks to the distributed damage stage phenomenon. This article is part of the theme issue 'Modelling of dynamic phenomena and localization in structured media (part 2)'.

On the Influence of Inhomogeneous Interphase Layers on Instabilities in Hyperelastic Composites.

Polymer-based three-dimensional (3D) printing-such as the UV-assisted layer-by-layer polymerization technique-enables fabrication of deformable microstructured materials with pre-designed properties. However, the properties of such materials require careful characterization. Thus, for example, in the polymerization process, a new interphase zone is formed at the boundary between two constituents. This article presents a study of the interphasial transition zone effect on the elastic instability phenomenon in hyperelastic layered composites. In this study, three different types of the shear modulus distribution through the thickness of the interphasial layer were considered. Numerical Bloch-Floquet analysis was employed, superimposed on finite deformations to detect the onset of instabilities and the associated critical wavelength. Significant changes in the buckling behavior of the composites were observed because of the existence of the interphasial inhomogeneous layers. Interphase properties influence the onset of instabilities and the buckling patterns. Numerical simulations showed that interlayer inhomogeneity may result in higher stability of composites with respect to classical layup constructions of identical shear stiffness. Moreover, we found that the critical wavelength of the buckling mode can be regulated by the inhomogeneous interphase properties. Finally, a qualitative illustration of the effect is presented for 3D-printed deformable composites with varying thickness of the stiff phase.

Domain Formations and Pattern Transitions via Instabilities in Soft Heterogeneous Materials.

Experimental observations of domain formations and pattern transitions in soft particulate composites under large deformations are reported herein. The system of stiff inclusions periodically distributed in a soft elastomeric matrix experiences dramatic microstructure changes upon the development of elastic instabilities. In the experiments, the formation of microstructures with antisymmetric domains and their geometrically tailored evolution into a variety of patterns of cooperative particle rearrangements are observed. Through experimental and numerical analyses, it is shown that these patterns can be tailored by tuning the initial microstructural periodicity and concentration of the inclusions. Thus, these fully determined new patterns can be achieved by fine tuning of the initial microstructure.

Instability-Induced Pattern Transformation in Soft Metamaterial with Hexagonal Networks for Tunable Wave Propagation.

Instability-induced pattern transformations of the architectured multi-phase soft metamaterial under bi-axial compression were explored. The soft metamaterial is composed of two phases: a soft matrix and a reinforcing hexagonal network embedded in the matrix. Equi-biaxial loading is found to induce both micro- and macro- instabilities in the networked architecture. Two types of instability patterns were observed, dependent upon the architecture geometry and the material combination. The critical strain for triggering instability and the two resulting types of patterns was derived, and a theoretical criterion for the transition between the two patterns was determined. Type I patterns retain the original periodicity of the architecture but wrinkles the network walls whereas Type II patterns transform the overall periodicity of the architecture while bending the network walls. Elastic wave propagation analysis was performed for the two distinct patterns under both stressed and stress-free conditions: a change in band gaps is found for both instability-induced pattern transformations, but differs for each type due to their dramatic difference in structure transformation (i.e. Type I wall wrinkling vs. Type II periodicity switching). The distinguished mechanical behavior and the rich properties of this category of multi-phase soft metamaterial can be used to design new smart materials with switchable functionalities controllable by deformation.

Auxetic multiphase soft composite material design through instabilities with application for acoustic metamaterials.

We investigate the instability-induced pattern transformations in 3D-printed soft composites consisting of stiff inclusions and voids periodically distributed in a soft matrix. These soft auxetic composites are prone to elastic instabilities giving rise to negative Poisson's ratio (NPR) behavior. Upon reaching the instability point, the composite microstructure rearranges into a new morphology attaining an NPR regime. Remarkably, identical composites can morph into distinct patterns depending on the loading direction. These fully determined instability-induced distinct patterns are characterized by significantly different NPR behaviors, thus, giving rise to enhanced tunability of the composite properties. Finally, we illustrate a potential application of these reversible pattern transformations as tunable acoustic-elastic metamaterials capable of selectively filtering low frequency ranges controlled by deformation.

Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype.

The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the targeted selection of actuator architecture. Various strategies, such as the addition of discrete or periodic stiff inserts, the sectioning of the actuator, or the shifting of the cable channel are employed to demonstrate ways to achieve more controllable deformed shape during weight lifting or reduce the required actuation force. To illustrate these concepts, we design and manufacture a prototype of the soft polymer gripper, which is capable of manipulating small, delicate objects. The explored strategies can be utilized in other types of soft actuators, employing, for instance, actuation by means of electroactive polymers.

Harnessing viscoelasticity and instabilities for tuning wavy patterns in soft layered composites.

In this study, we combine the elastic instability and non-linear rate-dependent phenomena to achieve microstructure tunability in soft layered materials. In these soft composites, elastic instabilities give rise to formation of wrinkles or wavy patterns. In elastic materials, the critical wavelength as well as amplitude at a particular strain level are exclusively defined by the composite microstructure and contrast in the elastic moduli of the phases. Here, we propose to use rate-dependent soft constituents to increase the admissible range of tunable microstructures. Through the experiments on 3D printed soft laminates, and through the numerical simulation of the visco-hyperelastic composites, we demonstrate the existence of various instability-induced wavy patterns corresponding to the identical deformed state of the identical soft composites.