BACKGROUND Hydrogels are formed through the cross-linking of hydrophilic polymer chains within an aqueous microenvironment. The gelation can be achieved through a variety of mechanisms, spanning physical entanglement of polymer chains, electrostatic interactions, and covalent chemical cross-linking. The water-rich nature of hydrogels makes them broadly applicable to many areas, including tissue engineering, drug delivery, soft electronics, and actuators. Conventional hydrogels usually possess limited mechanical strength and are prone to permanent breakage. The lack of desired dynamic cues and structural complexity within the hydrogels has further limited their functions. Broadened applications of hydrogels, however, require advanced engineering of parameters such as mechanics and spatiotemporal presentation of active or bioactive moieties, as well as manipulation of multiscale shape, structure, and architecture. ADVANCES Hydrogels with substantially improved physicochemical properties have been enabled by rational design at the molecular level and control over multiscale architecture. For example, formulations that combine permanent polymer networks with reversibly bonding chains for energy dissipation show strong toughness and stretchability. Similar strategies may also substantially enhance the bonding affinity of hydrogels at interfaces with solids by covalently anchoring the polymer networks of tough hydrogels onto solid surfaces. Shear-thinning hydrogels that feature reversible bonds impart a fluidic nature upon application of shear forces and return back to their gel states once the forces are released. Self-healing hydrogels based on nanomaterial hybridization, electrostatic interactions, and slide-ring configurations exhibit excellent abilities in spontaneously healing themselves after damages. Additionally, harnessing techniques that can dynamically and precisely configure hydrogels have resulted in flexibility to regulate their architecture, activity, and functionality. Dynamic modulations of polymer chain physics and chemistry can lead to temporal alteration of hydrogel structures in a programmed manner. Three-dimensional printing enables architectural control of hydrogels at high precision, with a potential to further integrate elements that enable change of hydrogel configurations along prescribed paths. OUTLOOK We envision the continuation of innovation in new bioorthogonal chemistries for making hydrogels, enabling their fabrication in the presence of biological species without impairing cellular or biomolecule functions. We also foresee opportunities in the further development of more sophisticated fabrication methods that allow better-controlled hydrogel architecture across multiple length scales. In addition, technologies that precisely regulate the physicochemical properties of hydrogels in spatiotemporally controlled manners are crucial in controlling their dynamics, such as degradation and dynamic presentation of biomolecules. We believe that the fabrication of hydrogels should be coupled with end applications in a feedback loop in order to achieve optimal designs through iterations. In the end, it is the combination of multiscale constituents and complementary strategies that will enable new applications of this important class of materials.

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Advances in engineering hydrogels

Electronic Textiles (e-textiles) are fabrics that feature electronics and interconnections woven into them, presenting physical flexibility and typical size that cannot be achieved with other existing electronic manufacturing techniques. Components and interconnections are intrinsic to the fabric and thus are less visible and not susceptible of becoming tangled or snagged by surrounding objects. E-textiles can also more easily adapt to fast changes in the computational and sensing requirements of any specific application, this one representing a useful feature for power management and context awareness. The vision behind wearable computing foresees future electronic systems to be an integral part of our everyday outfits. Such electronic devices have to meet special requirements concerning wearability. Wearable systems will be characterized by their ability to automatically recognize the activity and the behavioral status of their own user as well as of the situation around her/him, and to use this information to adjust the systems' configuration and functionality. This review focuses on recent advances in the field of Smart Textiles and pays particular attention to the materials and their manufacturing process. Each technique shows advantages and disadvantages and our aim is to highlight a possible trade-off between flexibility, ergonomics, low power consumption, integration and eventually autonomy.

/pdf/wearable-electronics-and-smart-textiles-a-critical-review-2oa10tsfxp.pdf

Wearable Electronics and Smart Textiles: A Critical Review

Flexible and stretchable physical sensors that can measure and quantify electrical signals generated by human activities are attracting a great deal of attention as they have unique characteristics, such as ultrathinness, low modulus, light weight, high flexibility, and stretchability. These flexible and stretchable physical sensors conformally attached on the surface of organs or skin can provide a new opportunity for human-activity monitoring and personal healthcare. Consequently, in recent years there has been considerable research effort devoted to the development of flexible and stretchable physical sensors to fulfill the requirements of future technology, and much progress has been achieved. Here, the most recent developments of flexible and stretchable physical sensors are described, including temperature, pressure, and strain sensors, and flexible and stretchable sensor-integrated platforms. The latest successful examples of flexible and stretchable physical sensors for the detection of temperature, pressure, and strain, as well as their novel structures, technological innovations, and challenges, are reviewed first. In the next section, recent progress regarding sensor-integrated wearable platforms is overviewed in detail. Some of the latest achievements regarding self-powered sensor-integrated wearable platform technologies are also reviewed. Further research direction and challenges are also proposed to develop a fully sensor-integrated wearable platform for monitoring human activity and personal healthcare in the near future.

Flexible and Stretchable Physical Sensor Integrated Platforms for Wearable Human-Activity Monitoringand Personal Healthcare.

Skin-like electronics that can adhere seamlessly to human skin or within the body are highly desirable for applications such as health monitoring, medical treatment, medical implants and biological studies, and for technologies that include human-machine interfaces, soft robotics and augmented reality. Rendering such electronics soft and stretchable-like human skin-would make them more comfortable to wear, and, through increased contact area, would greatly enhance the fidelity of signals acquired from the skin. Structural engineering of rigid inorganic and organic devices has enabled circuit-level stretchability, but this requires sophisticated fabrication techniques and usually suffers from reduced densities of devices within an array. We reasoned that the desired parameters, such as higher mechanical deformability and robustness, improved skin compatibility and higher device density, could be provided by using intrinsically stretchable polymer materials instead. However, the production of intrinsically stretchable materials and devices is still largely in its infancy: such materials have been reported, but functional, intrinsically stretchable electronics have yet to be demonstrated owing to the lack of a scalable fabrication technology. Here we describe a fabrication process that enables high yield and uniformity from a variety of intrinsically stretchable electronic polymers. We demonstrate an intrinsically stretchable polymer transistor array with an unprecedented device density of 347 transistors per square centimetre. The transistors have an average charge-carrier mobility comparable to that of amorphous silicon, varying only slightly (within one order of magnitude) when subjected to 100 per cent strain for 1,000 cycles, without current-voltage hysteresis. Our transistor arrays thus constitute intrinsically stretchable skin electronics, and include an active matrix for sensory arrays, as well as analogue and digital circuit elements. Our process offers a general platform for incorporating other intrinsically stretchable polymer materials, enabling the fabrication of next-generation stretchable skin electronic devices.

Skin electronics from scalable fabrication of an intrinsically stretchable transistor array.

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/adma.201707035

Soft Robotic Grippers.

Cephalopods such as octopuses have a combination of a stretchable skin and color-tuning organs to control both posture and color for visual communication and disguise. We present an electroluminescent material that is capable of large uniaxial stretching and surface area changes while actively emitting light. Layers of transparent hydrogel electrodes sandwich a ZnS phosphor-doped dielectric elastomer layer, creating thin rubber sheets that change illuminance and capacitance under deformation. Arrays of individually controllable pixels in thin rubber sheets were fabricated using replica molding and were subjected to stretching, folding, and rolling to demonstrate their use as stretchable displays. These sheets were then integrated into the skin of a soft robot, providing it with dynamic coloration and sensory feedback from external and internal stimuli.

Highly stretchable electroluminescent skin for optical signaling and tactile sensing

In the past few years, soft robotics has rapidly become an emerging research topic, opening new possibilities for addressing real-world tasks Perception can enable robots to effectively explore the unknown world, and interact safely with humans and the environment Among all extero- and proprioception modalities, the detection of mechanical cues is vital, as with living beings A variety of soft sensing technologies are available today, but there is still a gap to effectively utilize them in soft robots for practical applications Here, the developments in soft robots with mechanical sensing are summarized to provide a comprehensive understanding of the state of the art in this field Promising sensing technologies for mechanically perceptive soft robots are described, categorized, and their pros and cons are discussed Strategies for designing soft sensors and criteria to evaluate their performance are outlined from the perspective of soft robotic applications Challenges and trends in developing multimodal sensors, stretchable conductive materials and electronic interfaces, modeling techniques, and data interpretation for soft robotic sensing are highlighted The knowledge gap and promising solutions toward perceptive soft robots are discussed and analyzed to provide a perspective in this field

https://onlinelibrary.wiley.com/doi/pdf/10.1002/advs.201800541

Toward Perceptive Soft Robots: Progress and Challenges

using liquid capacitors to address deformability. Here we show the fast and easy fabrication of a fully ﬂ exible capacitive three-axial force sensor made with conductive fabric electrodes and an elastomeric material. This unique sensor presented a high com-pliance, robustness and stability under manipulation and very appealing performances in terms of sensitivity (less than 10 mg and 8 µm, minimal detectable weight and displacement, respec-tively) and detection range (measured up to 190 kPa, and esti-mated up to 400 kPa) against the existing state-of-the-art sensors. This work intersects with the recent and exciting direction taken by the research ﬁ eld towards smart, integrated, and ﬂ exible elec-tronic devices using an ancestral composite material: textile.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/adma.201305064

Flexible Three‐Axial Force Sensor for Soft and Highly Sensitive Artificial Touch

Soft robotics is a growing field of research, focusing on constructing motor-less robots from highly compliant materials, some are similar to those found in living organisms. Soft robotics has a high potential for applications in various fields such as soft grippers, actuators, and biomedical devices. 3D printing of soft robotics presents a novel and promising approach to form objects with complex structures, directly from a digital design. Here, recent developments in the field of materials for 3D printing of soft robotics are summarized, including high-performance flexible and stretchable materials, hydrogels, self-healing materials, and shape memory polymers, as well as fabrication of all-printed robots (multi-material printing, embedded electronics, untethered and autonomous robotics). The current challenges in the fabrication of 3D printed soft robotics, including the materials available and printing abilities, are presented and the recent activities addressing these challenges are also surveyed.

3D Printing Materials for Soft Robotics.

Revealing human movement requires lightweight, flexible systems capable of detecting mechanical parameters (like strain and pressure) while being worn comfortably by the user, and not interfering with his/her activity. In this work we address such multifaceted challenge with the development of smart garments for lower limb motion detection, like a textile kneepad and anklet in which soft sensors and readout electronics are embedded for retrieving movement of the specific joint. Stretchable capacitive sensors with a three-electrode configuration are built combining conductive textiles and elastomeric layers, and distributed around knee and ankle. Results show an excellent behavior in the ~30% strain range, hence the correlation between sensors’ responses and the optically tracked Euler angles is allowed for basic lower limb movements. Bending during knee flexion/extension is detected, and it is discriminated from any external contact by implementing in real time a low computational algorithm. The smart anklet is designed to address joint motion detection in and off the sagittal plane. Ankle dorsi/plantar flexion, adduction/abduction, and rotation are retrieved. Both knee and ankle smart garments show a high accuracy in movement detection, with a RMSE less than 4° in the worst case.

https://www.mdpi.com/1424-8220/17/10/2314/pdf

Massimo Totaro

Papers

Highly stretchable electroluminescent skin for optical signaling and tactile sensing

Toward Perceptive Soft Robots: Progress and Challenges

Flexible Three‐Axial Force Sensor for Soft and Highly Sensitive Artificial Touch

3D Printing Materials for Soft Robotics.

Soft Smart Garments for Lower Limb Joint Position Analysis.