A crucial component in designing soft actuating structures with controllable shape changes is programming internal, mismatching stresses. In this work, a new paradigm for achieving anisotropic dynamics between isotropic end-states-yielding a non-reciprocal shrinking/swelling response over a full actuation cycle-in a microscale actuator made of a single material, purely through microscale design is demonstrated. Anisotropic dynamics is achieved by incorporating micro-sized pores into certain segments of the structures; by arranging porous and non-porous segments (specifically, struts) into a 2D hexagonally-shaped microscopic poly(N-isopropyl acrylamide) hydrogel particle, the rate of isotropic shrinking/swelling in the structure is locally modulated, generating global anisotropic, non-reciprocal, dynamics. A simple mathematical model is introduced that reveals the physics that underlies these dynamics. This design has the potential to be used as a foundational tool for inducing non-reciprocal actuation cycles with a single material structure, and enables new possibilities in producing customized soft actuators and modular anisotropic metamaterials for a range of real-world applications, such as artificial cilia.
Keywords: asymmetry; hydrogels; in-plane anisotropy; micro-actuators; non-reciprocity; soft robots.
© 2022 The Authors. Macromolecular Rapid Communications published by Wiley-VCH GmbH.