4D Printing of Hydrogels: A Review

3D printing permits the construction of objects by layer‐by‐layer deposition of material, resulting in precise control of the dimensions and properties of complex printed structures. Although 3D printing fabricates inanimate objects, the emerging technology of 4D printing allows for animated structures that change their shape, function, or properties over time when exposed to specific external stimuli after fabrication. Among the materials used in 4D printing, hydrogels have attracted growing interest due to the availability of various smart hydrogels. The reversible shape‐morphing in 4D printed hydrogel structures is driven by a stress mismatch arising from the different swelling degrees in the parts of the structure upon application of a stimulus. This review provides the state‐of‐the‐art of 4D printing of hydrogels from the materials perspective. First, the main 3D printing technologies employed are briefly depicted, and, for each one, the required physico‐chemical properties of the precursor material. Then, the hydrogels that have been printed are described, including stimuli‐responsive hydrogels, non‐responsive hydrogels that are sensitive to solvent absorption/desorption, and multimaterial structures that are totally hydrogel‐based. Finally, the current and future applications of this technology are presented, and the requisites and avenues of improvement in terms of material properties are discussed.     

Complex 3D‐Printed Microchannels within Cell‐Degradable Hydrogels

3D‐printing is emerging as a technology to introduce microchannels into hydrogels, for the perfusion of engineered constructs. Although numerous techniques have been developed, new techniques are still needed to obtain the complex geometries of blood vessels and with materials that permit desired cellular responses. Here, a printing process where a shear‐thinning and self‐healing hydrogel “ink” is injected directly into a “support” hydrogel with similar properties is reported. The support hydrogel is further engineered to undergo stabilization through a thiol‐ene reaction, permitting (i) the washing of the ink to produce microchannels and (ii) tunable properties depending on the crosslinker design. When adhesive peptides are included in the support hydrogel, endothelial cells form confluent monolayers within the channels, across a range of printed configurations (e.g., straight, stenosis, spiral). When protease‐degradable crosslinkers are used for the support hydrogel and gradients of angiogenic factors are introduced, endothelial cells sprout into the support hydrogel in the direction of the gradient. This printing approach is used to investigate the influence of channel curvature on angiogenic sprouting and increased sprouting is observed at curved locations. Ultimately, this technique can be used for a range of biomedical applications, from engineering vascularized tissue constructs to modeling in vitro cultures.     

Botanical‐Inspired 4D Printing of Hydrogel at the Microscale

Botanical systems have evolved the intriguing ability to respond to diverse stimuli due to long‐term survival competition. Mimicking these dynamic behaviors has greatly advanced the developments in wide fields ranging from soft robotics, precision sensors to drug delivery and biomedical devices. However, realization of stimuli‐responsive components at the microscale with high response speed still remains a significant challenge. Herein, the miniature biomimetic 4D printing of pH‐responsive hydrogel is reported in spatiotemporal domain by femtosecond laser direct writing. The dimension of the printed architectures is at the microscale (<10² µm) and the response speed is reduced down to subsecond level (<500 ms). Shape transformation with multiple degrees of freedom is accomplished by taking advantage of pH‐triggered expansion, contraction, and torsion. Biomimetic complex shape‐morphing is enabled by adopting flexible scanning strategies. In addition, application of this 4D‐printed micro‐architecture in selective micro‐object trapping and releasing is demonstrated, showcasing its possibilities in micromanipulation, single‐cell analysis, and drug delivery.     

Combining 3D Printing with Electrospinning for Rapid Response and Enhanced Designability of Hydrogel Actuators

Porous structures have emerged as a breakthrough of shape‐morphing hydrogels to achieve a rapid response. However, these porous actuators generally suffer from a lack of complexity and diversity in obtained 3D shapes. Herein, a simple yet versatile strategy is developed to generate shape‐morphing hydrogels with both fast deformation and enhanced designability in 3D shapes by combining two promising technologies: electrospinning and 3D printing. Elaborate patterns are printed on mesostructured stimuli‐responsive electrospun membranes, modulating in‐plane and interlayer internal stresses induced by swelling/shrinkage mismatch, and thus guiding morphing behaviors of electrospun membranes to adapt to changes of the environment. With this strategy, a series of fast deformed hydrogel actuators are constructed with various distinctive responsive behaviors, including reversible/irreversible formations of 3D structures, folding of 3D tubes, and formations of 3D structures with multi low‐energy states. It is worth noting that although poly(N‐isopropyl acrylamide) is chosen as the model system in the present research, our strategy is applicable to other stimuli‐responsive hydrogels, which enriches designs of rapid deformed hydrogel actuators.     

Monolithic Dual‐Material 3D Printing of Ionic Skins with Long‐Term Performance Stability

Artificial “ionic skin” is of great interest for mimicking the functionality of human skin, such as subtle pressure sensing. However, the development of ionic skin is hindered by the strict requirements of device integration and the need for devices with satisfactory performance. Here, a dual‐material printing strategy for ionic skin fabrication to eliminate signal drift and performance degradation during long‐term use is proposed, while endowing the ionic skins with high sensitivity by 3D printing of ionic hydrogel electrodes with microstructures. The ionic skins are fabricated by alternative digital light processing 3D printing of two photocurable precursors: hydrogel and water‐dilutable polyurethane acrylate (WPUA), in which the ionically conductive hydrogel layers serve as soft, transparent electrodes and the electrically insulated WPUA as flexible, transparent dielectric layers. This novel dual‐material printing strategy enables strong chemical bonding between the hydrogel and the WPUA, endowing the device with designed characteristics. The resulting device has high sensitivity, minimal hysteresis, a response time in the millisecond range, and excellent repetition durability for pressure sensing. The results demonstrate the potential of the dual‐material 3D printing strategy as a pathway to realize highly stable and high‐performance ionic skin fabrication to monitor human physiological signals and human–machine interactions.     

Molecularly‐Engineered, 4D‐Printed Liquid Crystal Elastomer Actuators

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.     

3D Printing of Multifunctional Hydrogels

3D printing technology has been widely explored for the rapid design and fabrication of hydrogels, as required by complicated soft structures and devices. Here, a new 3D printing method is presented based on the rheology modifier of Carbomer for direct ink writing of various functional hydrogels. Carbomer is shown to be highly efficient in providing ideal rheological behaviors for multifunctional hydrogel inks, including double network hydrogels, magnetic hydrogels, temperature‐sensitive hydrogels, and biogels, with a low dosage (at least 0.5% w/v) recorded. Besides the excellent printing performance, mechanical behaviors, and biocompatibility, the 3D printed multifunctional hydrogels enable various soft devices, including loadable webs, soft robots, 4D printed leaves, and hydrogel Petri dishes. Moreover, with its unprecedented capability, the Carbomer‐based 3D printing method opens new avenues for bioprinting manufacturing and integrated hydrogel devices.     

Hydrodynamically Guided Hierarchical Self‐Assembly of Peptide–Protein Bioinks

Effective integration of molecular self‐assembly and additive manufacturing would provide a technological leap in bioprinting. This article reports on a biofabrication system based on the hydrodynamically guided co‐assembly of peptide amphiphiles (PAs) with naturally occurring biomolecules and proteins to generate hierarchical constructs with tuneable molecular composition and structural control. The system takes advantage of droplet‐on‐demand inkjet printing to exploit interfacial fluid forces and guide molecular self‐assembly into aligned or disordered nanofibers, hydrogel structures of different geometries and sizes, surface topographies, and higher‐ordered constructs bound by molecular diffusion. PAs are designed to co‐assemble during printing in cell diluent conditions with a range of extracellular matrix (ECM) proteins and biomolecules including fibronectin, collagen, keratin, elastin‐like proteins, and hyaluronic acid. Using combinations of these molecules, NIH‐3T3 and adipose derived stem cells are bioprinted within complex structures while exhibiting high cell viability (>88%). By integrating self‐assembly with 3D‐bioprinting, the study introduces a novel biofabrication platform capable of encapsulating and spatially distributing multiple cell types within tuneable pericellular environments. In this way, the work demonstrates the potential of the approach to generate complex bioactive scaffolds for applications such as tissue engineering, in vitro models, and drug screening.     

Soft Robotics Programmed with Double Crosslinking DNA Hydrogels

DNA nanotechnology is developed for decades to construct dynamic responsive systems in optics, quantum electronics, and therapeutics. While DNA nanotechnology is a powerful tool in nanomaterials, it is rare to see successful applications of DNA molecules in the macroscopic regime of material sciences. Here, a novel strategy to magnify the nanometer scale DNA self‐assembly into a macroscopic mechanical responsiveness is demonstrated. By incorporating molecularly engineered DNA sequences into a polymeric network, a new type of responsive hydrogel (D‐gel), whose overall morphology is dynamically controlled by DNA hybridization‐induced double crosslinking is able to be created. As a step toward manufacturing, the D‐gel in combination with a bottom‐up 3D printing technology is employed to rapidly create modular macroscopic structures that feature programmable reconfiguration and directional movement, which can even mimic the complex gestures of human hands. Mechanical operations such as catch and release are demonstrated by a proof‐of‐concept hydrogel palm, which possessed great promise for future engineering applications. Compared with previously developed DNA hydrogels, the D‐gel features an ease of synthesis, faster response, and a high degree of programmable control. Moreover, it is possible to scale up the production of D‐gel containing responsive devices through direct 3D printing.     

Stimuli‐Directing Self‐Organized 3D Liquid‐Crystalline Nanostructures: From Materials Design to Photonic Applications

3D photonic nanostructures with desirable functionalities in the visible light region and beyond have been recently given vast and increasing attentions because of the ability to control or confine electromagnetic waves in all three dimensions. Although substantial progress has been made in fabricating 3D nanostructures by means of lithography and nanotechnology, various bottlenecks still need to be overcome, and developing soft 3D stimuli‐directed nanostructures with tailored properties remains a challenging but exciting work. In this context, soft nanotechnology—i.e., exploiting self‐organized soft materials in nanotechnology—is emerging as a vibrant and burgeoning field of research in the bottom‐up nanofabrication of intelligent stimuli‐driven 3D photonic materials and devices. Liquid‐crystalline materials undoubtedly represent such a marvelous dynamic system that combines the liquid‐like fluidity and crystal‐like ordering from molecular to macroscopic material levels. Importantly, being “soft” makes the materials responsive to various stimuli such as temperature, light, mechanical force, and electric and magnetic fields as well as chemical and electrochemical reactions, resulting in a fascinating tunability of dynamic photonic bandgaps in the 3D nanostructure that provides numerous opportunities in all‐optical integrated circuits and next‐generation communication systems. Here, the development of 3D photonic nanostructures is reviewed, culminating with perspectives for the future scope and challenges of these emerging soft 3D photonic nanostructures towards device applications.     

Stimuli‐Responsive Nucleic Acid‐Based Polyacrylamide Hydrogel‐Coated Metal–Organic Framework Nanoparticles for Controlled Drug Release

The synthesis of doxorubicin‐loaded metal–organic framework nanoparticles (NMOFs) coated with a stimuli‐responsive nucleic acid‐based polyacrylamide hydrogel is described. The formation of the hydrogel is stimulated by the crosslinking of two polyacrylamide chains, P_A and P_B, that are functionalized with two nucleic acid hairpins ( 4 ) and ( 5 ) using the strand‐induced hybridization chain reaction. The resulting duplex‐bridged polyacrylamide hydrogel includes the anti‐ATP (adenosine triphosphate) aptamer sequence in a caged configuration. The drug encapsulated in the NMOFs is locked by the hydrogel coating. In the presence of ATP that is overexpressed in cancer cells, the hydrogel coating is degraded via the formation of the ATP–aptamer complex, resulting in the release of doxorubicin drug. In addition to the introduction of a general means to synthesize drug‐loaded stimuli‐responsive nucleic acid‐based polyacrylamide hydrogel‐coated NMOFs hybrids, the functionalized NMOFs resolve significant limitations associated with the recently reported nucleic acid‐gated drug‐loaded NMOFs. The study reveals substantially higher loading of the drug in the hydrogel‐coated NMOFs as compared to the nucleic acid‐gated NMOFs and overcomes the nonspecific leakage of the drug observed with the nucleic‐acid‐protected NMOFs. The doxorubicin‐loaded, ATP‐responsive, hydrogel‐coated NMOFs reveal selective and effective cytotoxicity toward MDA‐MB‐231 breast cancer cells, as compared to normal MCF‐10A epithelial breast cells.     

Shape‐Memory Microfluidics

Materials with embedded vascular networks afford rapid and enhanced control over bulk material properties including thermoregulation and distribution of active compounds such as healing agents or stimuli. Vascularized materials have a wide range of potential applications in self‐healing systems and tissue engineering constructs. Here, the application of vascularized materials for accelerated phase transitions in stimuli‐responsive microfluidic networks is reported. Poly(ester amide) elastomers are hygroscopic and exhibit thermo‐mechanical properties (T_g ≈ 37 °C) that enable heating or hydration to be used as stimuli to induce glassy‐rubbery transitions. Hydration‐dependent elasticity serves as the basis for stimuli‐responsive shape‐memory microfluidic networks. Recovery kinetics in shape‐memory microfluidics are measured under several operating modes. Perfusion‐assisted delivery of stimulus to the bulk volume of shape‐memory microfluidics dramatically accelerates shape recovery kinetics compared to devices that are not perfused. The recovery times are 4.2 ± 0.1 h and 8.0 ± 0.3 h in the perfused and non‐perfused cases, respectively. The recovery kinetics of the shape‐memory microfluidic devices operating in various modes of stimuli delivery can be accurately predicted through finite element simulations. This work demonstrates the utility of vascularized materials as a strategy to reduce the characteristic length scale for diffusion, thereby accelerating the actuation of stimuli‐responsive bulk materials.     

Hierarchical Multi‐Step Folding of Polymer Bilayers

A highly complex multi‐step folding of isotropic stimuli‐responsive polymer bilayers resulting in a variety of 2D and 3D structures is reported. Experimental observations allow determination of empirical rules, which can be used to direct the folding of polymer films in a predictable manner. In particular, it is demonstrated that these rules can be used for the design of a 3D pyramid. The understanding and know‐how attained in this study allow the very simple design of highly complex, self‐folding 3D objects and open new horizons for 3D patterning, important for the design of microfluidic devices, biomaterials, and soft electronics.     

External Stimuli Responsive Liquid‐Infused Surfaces Switching between Slippery and Nonslippery States: Fabrications and Applications

Surfaces with controllable liquid wettability and related functions have gained increasing attention from interfacial scientists due to the high demand of fundamental research and practical applications. Inspired by pitch plant's excellent liquid repellency, external stimuli responsive lubricant‐infused surfaces switching between slippery state and nonslippery state under external stimuli (E‐LIS) have been developed by introducing external stimuli responsive materials as substrates, lubricants, or repellent liquids. This progress report is focused on recent development of E‐LIS. First, design strategy and fabrication of E‐LIS upon external stimuli exposure, including stress, electrical field, magnetic field, and temperature, is summarized. Then, emerging interfacial applications of E‐LIS, such as microreactors, pipetting devices, fog collection devices, and so on, are highlighted. In addition, remaining challenges and future prospects are provided.     

Bioinspired Anisotropic Hydrogel Actuators with On–Off Switchable and Color‐Tunable Fluorescence Behaviors

An effective approach to develop a novel macroscopic anisotropic bilayer hydrogel actuator with on–off switchable fluorescent color‐changing function is reported. Through combining a collapsed thermoresponsive graphene oxide‐poly(N‐isopropylacrylamide) (GO‐PNIPAM) hydrogel layer with a pH‐responsive perylene bisimide‐functionalized hyperbranched polyethylenimine (PBI‐HPEI) hydrogel layer via macroscopic supramolecular assembly, a bilayer hydrogel is obtained that can be tailored and reswells to form a 3D hydrogel actuator. The actuator can undergo complex shape deformation caused by the PNIPAM outside layer, then the PBI‐HPEI hydrogel inside layer can be unfolded to trigger the on–off switch of the pH‐responsive fluorescence under the green light irradiation. This work will inspire the design and fabrication of novel biomimetic smart materials with synergistic functions.     

Wet‐Responsive,Reconfigurable, and Biocompatible Hydrogel Adhesive Films for Transfer Printing of Nanomembranes

This study presents a wet‐responsive and biocompatible smart hydrogel adhesive that exhibits switchable and controllable adhesions on demand for the simple and efficient transfer printing of nanomembranes. The prepared hydrogel adhesives show adhesion strength as high as ≈191 kPa with the aid of nano‐ or microstructure arrays on the surface in the dry state. When in contact with water, the nano/microscopic and macroscopic shape reconfigurations of the hydrogel adhesive occur, which turns off the adhesion (≈0.30 kPa) with an extremely high adhesion switching ratio (>640). The superior adhesion behaviors of the hydrogels are maintained over repeating cycles of hydration and dehydration, indicating their ability to be used repeatedly. The adhesives are made of a biocompatible hydrogel and their adhesion on/off can be controlled with water, making the adhesives compatible with various materials and surfaces, including biological substrates. Based on these smart adhesion capabilities, diverse metallic and semiconducting nanomembranes can be transferred from donor substrates to either rigid or flexible surfaces including biological tissues in a reproducible and robust fashion. Transfer printing of a nanoscale crack sensor onto a bovine eye further demonstrates the potential of the reconfigurable hydrogel adhesive for use as a stimuli‐responsive, smart, and versatile functional adhesive for nanotransfer printing.     

Particle‐Free Emulsions for 3D Printing Elastomers

3D printing is a rapidly growing field that requires the development of yield‐stress fluids that can be used in postprinting transformation processes. There is a limited number of yield‐stress fluids currently available with the desired rheological properties for building structures with small filaments (≤l00 µm) with high shape‐retention. A printing‐centric approach for 3D printing particle‐free silicone oil‐in‐water emulsions with a polymer additive, poly(ethylene oxide) is presented. This particular material structure and formulation is used to build 3D structure and to pattern at filament diameters below that of any other known material in this class. Increasing the molecular weight of poly(ethylene oxide) drastically increases the extensibility of the material without significantly affecting shear flow properties (shear yield stress and linear viscoelastic moduli). Higher extensibility of the emulsion correlates to the ability of filaments to span relatively large gaps (greater than 6 mm) when extruded at large tip diameters (330 µm) and the ability to extrude filaments at high print rates (20 mm s^?1). 3D printed structures with these extensible particle‐free emulsions undergo postprinting transformation, which converts them into elastomers. These elastomers can buckle and recover from extreme compressive strain with no permanent deformation, a characteristic not native to the emulsion.     

Stimuli‐Responsive Donor–Acceptor and DNA‐Crosslinked Hydrogels: Application as Shape‐Memory and Self‐Healing Materials

Carboxymethyl cellulose (CMC) chains are functionalized with self‐complementary nucleic acid tethers and electron donor or electron acceptor functionalities. The polymer chains crosslinked by the self‐complementary duplex nucleic acids and the donor–acceptor complexes as bridging units, yield a stiff stimuli‐responsive hydrogel. Upon the oxidation of the electron donor units, the donor–acceptor bridging units are separated, leading to a hydrogel of lower stiffness. By the cyclic oxidation and reduction of the donor units, the hydrogel is reversibly transformed across low and high stiffness states. The controlled stiffness properties of the hydrogel are used to develop shape‐memory hydrogels. In addition, CMC hydrogels crosslinked by donor–acceptor complexes and K⁺‐stabilized G‐quadruplexes reveal stimuli‐responsive properties that exhibit dually triggered stiffness functions. While the hydrogel bridged by the two crosslinking motifs reveals high stiffness, the redox‐stimulated separation of the donor–acceptor complexes or the crown‐ether‐stimulated separation of the G‐quadruplex bridges yields two alternative hydrogels exhibiting low stiffness states. The control over the stiffness properties of the dually triggered hydrogel is used to develop shape‐memory hydrogels, where the donor–acceptor units or G‐quadruplex bridges act as “memories”, and to develop triggered self‐healing process of the hydrogel.     

Chinese‐Noodle‐Inspired Muscle Myofiber Fabrication

Much effort has been made to engineer artificial fiber‐shaped cellular constructs that can be potentially used as muscle fibers or blood vessels. However, existing microfiber‐based approaches for culturing cells are still limited to 2D systems, compatible with a restricted number of polymers (e.g., alginate) and always lacking in situ mechanical stimulation. Here, a simple, facile, and high‐throughput technique is reported to fabricate 3D cell‐laden hydrogel microfibers (named hydrogel noodles), inspired by the fabrication approach for Chinese Hele noodle. A magnetically actuated and noncontact method to apply tensile stretch on hydrogel noodles has also been developed. With this method, it is found that cellular strain‐threshold and saturation behaviors in hydrogel noodles differ substantially from their 2D analogs, including proliferation, spreading, and alignment. Moreover, it is shown that these cell‐laden microfibers can induce muscle myofiber formation by tensile stretching alone. This easily adaptable platform holds great potential for the creation of functional tissue constructs and probing mechanobiology in three dimensions.     

Void‐Free 3D Bioprinting for In Situ Endothelialization and Microfluidic Perfusion

Two major challenges of 3D bioprinting are the retention of structural fidelity and efficient endothelialization for tissue vascularization. Both of these issues are addressed by introducing a versatile 3D bioprinting strategy, in which a templating bioink is deposited layer‐by‐layer alongside a matrix bioink to establish void‐free multimaterial structures. After crosslinking the matrix phase, the templating phase is sacrificed to create a well‐defined 3D network of interconnected tubular channels. This void‐free 3D printing (VF‐3DP) approach circumvents the traditional concerns of structural collapse, deformation, and oxygen inhibition, moreover, it can be readily used to print materials that are widely considered “unprintable.” By preloading endothelial cells into the templating bioink, the inner surface of the channels can be efficiently cellularized with a confluent endothelial layer. This in situ endothelialization method can be used to produce endothelium with a far greater cell seeding uniformity than can be achieved using the conventional postseeding approach. This VF‐3DP approach can also be extended beyond tissue fabrication and toward customized hydrogel‐based microfluidics and self‐supported perfusable hydrogel constructs.