Nature-Inspired Sequential Shape Transformation of Energy-Patterned Hydrogel Sheets

The design of materials that can mimic encoded shape evolution in nature is important but challenging. Here we present a simple yet versatile strategy for programming the sequential deformation of hydrogel sheets to acquire desired actuation motions and geometric shapes. The method relies on the dual-gradient structure-enabled snapping deformation of hydrogels through the accumulation and burst release of elastic energy, as well as the patterning of the prestored energy in gels. Pretreating distinct regions of the hydrogel sheets with different durations of the same stimulus (or with different stimuli) allows for locally prestoring chemical energy that can be converted to temporospatially patterned elastic energy and abruptly released to drive the successive snapping of different regions of hydrogels in predefined onset sequences. The sequence of energy release (i.e., the sequence of snapping deformation) of the local regions for hydrogels can be reprogrammed by different local prestimulation methods, which allows one gel to deform into various defined geometric configurations. The general mathematic criteria are developed to predict the energy release and snapping of the hydrogels. This work can provide guidance for the design of new-generation actuators and soft robotics.