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.     

Gradient Porous Elastic Hydrogels with Shape‐Memory Property and Anisotropic Responses for Programmable Locomotion

Programmable locomotion of responsive hydrogels has gained increasing attention for potential applications in soft robotics, microfluidic components, actuators, and artificial muscle. Modulation of hydrogel pore structures is essential for tailoring their mechanical strength, response speeds, and motion behaviors. Conventional methods forming hydrogels with homogeneous or stepwise‐distributed pore structures are limited by the required compromise to simultaneously optimize these aspects. Here, a heterobifunctional crosslinker enabled hydrothermal process is introduced to synthesize responsive hydrogels with well‐defined gradient pore construction. According to gradient porosity controls, the hydrogels simultaneously exhibit rapid responses to external stimuli, high elasticity/compressibility, and programmable locomotion capability. By incorporating polypyrrole nanoparticles as photothermal transducers, photo/thermal responsive composite hydrogels are formed to enable programmable control of locomotion such as bending, curving, twisting, and octopus‐like swimming under near‐infrared laser stimulation. The tunable pore structures, mechanical properties, and locomotion of this new class of materials make these gradient porous hydrogels potentially suitable for a variety of applications.     

Programmed Shape‐Morphing Scaffolds Enabling Facile 3D Endothelialization

Rapid formation of a confluent endothelial monolayer is the key to the success of small‐diameter vascular grafts, which is significantly important for treating dangerous and even sometimes deadly vascular disorders. However, the difficulty to homogenously locate endothelial cells onto the lumen of small‐diameter tubular scaffolds makes 3D endothelialization greatly challenging. Here, novel shape‐morphing scaffolds enabling programmed deformation from planar shapes to small‐diameter tubular shapes are designed and developed by combining biocompatible shape memory polymer and electrospun nanofibrous membrane. Endothelial cells can be conveniently seeded and attached on the 2D surface of the scaffolds and subsequently self‐rolled into 3D organization at physiological temperature. Endothelial cell responses and functions are varied on the shape‐morphing scaffolds with different nanofibrous electrospun membranes as the inner layer, arisen from the inducement of scaffolds with different morphological, physical, and biochemical characteristics. Owing to excellent properties of the nanofibrous membrane fabricated by the coelectrospinning of poly‐ε‐caprolactone (PCL) and gelatin methacrylate (GelMA), the shape‐morphing scaffolds with a nanofibrous PCL/GelMA inner layer support desirable homogeneous endothelial cell attachment as well as the rapid formation of biomimetic cell–scaffold interaction and cell–cell interaction under the 3D cell culture condition, therefore offering a visible approach for facile 3D endothelialization.     

Development of Thermoinks for 4D Direct Printing of Temperature-Induced Self-Rolling Hydrogel Actuators

4D printing has emerged as an important technique for fabricating 3D objects from programmable materials capable of time-dependent reshaping. In the present investigation, novel 4D thermoinks composed of laponite (LAP), an interpenetrating network of poly(N-isopropylacrylamide) (PNIPAAm), and alginate (ALG) are developed for direct printing of shape-morphing structures. This approach consists of the design and fabrication of 3D honeycomb-patterned hydrogel discs self-rolling into tubular constructs under the stimulus of temperature. The shape morphing behavior of hydrogels is due to shear-induced anisotropy generated via 3D printing. The compositionally tunable hydrogel discs can be programmed to exhibit different actuation behaviors at different temperatures. Upon immersion in 12 °C water, singly crosslinked sheets roll up into a tubular construct. When transferred to 42 °C water, the tubes first rapidly unfold and then slightly curve up in the opposite direction. Through a dual photocrosslinking of PNIPAAm, it is possible to inverse temperature-dependent shape morphing and induce self-folding at higher and unrolling at lower temperatures. The extensive self-assembling motion is essential to developing thermal actuators with broad applications in, e.g., soft robotics and active implantology, whereas controllable self-rolling of planar hydrogels is of the highest interest to biomedical engineering as it allows for effective fabrication of hollow tubes.     

4D Printing of Multi-Stimuli Responsive Protein-Based Hydrogels for Autonomous Shape Transformations

Stimuli responsive hydrogels that can change shape in response to applied external stimuli are appealing for soft robotics, biomedical devices, drug delivery, and actuators. However, existing 3D printed shape morphing materials are non-biodegradable, which limits their use in biomedical applications. Here, 3D printed protein-based hydrogels are developed and applied for programmable structural changes under the action of temperature, pH, or an enzyme. Key to the success of this strategy is the use of methacrylated bovine serum albumin (MA–BSA) as a biodegradable building block to Pickering emulsion gels in the presence of N-isopropylacrylamide or 2-dimethylaminoethyl methacrylate. These shear-thinning gels are ideal for direct ink write (DIW) 3D printing of multi-layered stimuli-responsive hydrogels. While poly(N-isopropylacrylamide) and poly(dimethylaminoethyl methacrylate) introduce temperature and pH-responsive properties into the printed objects, a unique feature of this strategy is an enzyme-triggered shape transformation based on the degradation of the bovine serum albumin network. To highlight this technique, protein-based hydrogels that reversibly change shape based on environmental temperature and pH are fabricated, and irreversibly altered by enzymatic degradation, which demonstrates the complexity that can be introduced into 4D printed systems.     

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.     

Stomata‐Inspired Membrane Produced Through Photopolymerization Patterning

The programmed movements of responsive functional hydrogels have received much attention because of their abundant functions and wide range of engineering applications. In this study, an innovative stomata‐inspired membrane (SIM) is fabricated by using a temperature‐responsive hydrogel through a simple, cost‐effective, and high‐throughput patterned photopolymerization. Polymerization‐induced diffusion on the macroscale surface results in formation of a double‐parted polymer membrane with fine pores after single illumination. After heating the SIM, the less deformable thick frame supports the whole structure and the highly deformable thin base regulates pore shape. Among various SIM types, the slit pores of monocot SIM, which are lined up in parallel, exhibit the largest radius deformation. The morphological configuration of the SIM can be easily controlled by changing the photomask for a given application. As the developed SIM features the sensing‐to‐activation functions of stimuli‐responsive hydrogels and can be easily fabricated, this membrane can be potentially used for numerous practical applications, such as filter membranes with adjustable pores, membrane‐based sensors, membrane‐based actuators, and multifunctional membranes.     

Programmed Deformations of 3D‐Printed Tough Physical Hydrogels with High Response Speed and Large Output Force

Shape‐morphing hydrogels have emerging applications in biomedical devices, soft robotics, and so on. However, successful applications require a combination of excellent mechanical properties and fast responding speed, which are usually a trade‐off in hydrogel‐based devices. Here, a facile approach to fabricate 3D gel constructs by extrusion‐based printing of tough physical hydrogels, which show programmable deformations with high response speed and large output force, is described. Highly viscoelastic poly(acrylic acid‐co‐acrylamide) (P(AAc‐co‐AAm)) and poly(acrylic acid‐co‐N‐isopropyl acrylamide) (P(AAc‐co‐NIPAm)) solutions or their mixtures are printed into 3D constructs by using multiple nozzles, which are then transferred into FeCl₃ solution to gel the structures by forming robust carboxyl–Fe³⁺ coordination complexes. The printed gel fibers containing poly(N‐isopropyl acrylamide) segment exhibit considerable volume contraction in concentrated saline solution, whereas the P(AAc‐co‐AAm) ones do not contract. The mismatch in responsiveness of the gel fibers affords the integrated 3D gel constructs the shape‐morphing ability. Because of the small diameter of gel fibers, the printed gel structures deform and recover with a fast speed. A four‐armed gripper is designed to clamp plastic balls with considerable holding force, as large as 115 times the weight of the gripper. This strategy should be applicable to other tough hydrogels and broaden their applications.     

Bioinspired Electro‐Thermo‐Hygro Reversible Shape‐Changing Materials by 4D Printing

Hygromorph composites are moisture‐induced shape‐changing materials that are increasingly studied to develop autonomously actuated deployable structures. The morphing mechanism is based on the high affinity for moisture and the hygroexpansive nature of at least one component, combined with a bilayer microstructure. Among available hygromorphs, those consisting of cellulosic or hydrogel material‐based actuators trigger fast responses to moisture. Their stiffness however decreases significantly with the moisture content and that restricts their potential application as soft actuators. This work proposes a novel 4D printed multistimuli‐responsive structural material based on conductive carbon reinforcements and combined with a moisture sensitive polymer. These 4D printed materials possess a microstructure that provides the capability of natural actuators like pine cones. The actuation of these functional materials could be either triggered passively by the variation of the ambient moisture, or by electroheating, with the latter leading to the control of the moisture content in initially wet samples via Joule effects. This new class of functional materials shows an increase of the actuation speed by a factor 10 compared to other existing hygromorphs with the same responsiveness. When the electrical heating is turned off, passive cooling and moisture driven actuation is triggered in a full reversible mode.     

Polyampholyte Hydrogels with pH Modulated Shape Memory and Spontaneous Actuation

Polyampholyte hydrogels are synthesized by one‐step copolymerization of cationic monomer 3‐(methacryloylamino)propyltrimethylammonium chloride, anionic monomers sodium p‐styrenesulfonate (NaSS), and methacrylic acid (MAA) without chemical crosslinker and adding salts. The hydrogels exhibit pH responsive shape memory behavior; the temporary shape of the hydrogel is formed manually after immersing in NaOH solution and fixed in HCl solution, while the shape recovery occurs by immersing in NaOH again. Most interestingly, the hydrogel shows a spontaneous shape change after the first shape memory cycle. When the recovered hydrogel with a little residual deformation is immersed in HCl again, it twists spontaneously and rapidly to the previous temporary shape. The spontaneous twisting and recovering can be repeated for ten times. Furthermore, the hydrogel swells quickly and is strengthened in HCl, while shrinks and weakens in NaOH during the shape change procedure. This unique synergistic effect of fast swelling, residual helical deformation, and increased strength plays a significant role in the spontaneous shape alternation. This new finding will initiate a new prosperous design for new soft actuators requiring successive actions.     

Kirigami‐Inspired Self‐Assembly of 3D Structures

Self‐assembly of 3D structures presents an attractive and scalable route to realize reconfigurable and functionally capable mesoscale devices without human intervention. A common approach for achieving this is to utilize stimuli‐responsive folding of hinged structures, which requires the integration of different materials and/or geometric arrangements along the hinges. It is demonstrated that the inclusion of Kirigami cuts in planar, hingeless bilayer thin sheets can be used to produce complex 3D shapes in an on‐demand manner. Nonlinear finite element models are developed to elucidate the mechanics of shape morphing in bilayer thin sheets and verify the predictions through swelling experiments of planar, millimeter‐scaled PDMS (polydimethylsiloxane) bilayers in organic solvents. Building upon the mechanistic understandings, The transformation of Kirigami‐cut simple bilayers into 3D shapes such as letters from the Roman alphabet (to make “ADVANCED FUNCTIONAL MATERIALS”) and open/closed polyhedral architectures is experimentally demonstrated. A possible application of the bilayers as tether‐less optical metamaterials with dynamically tunable light transmission and reflection behaviors is also shown. As the proposed mechanistic design principles could be applied to a variety of materials, this research broadly contributes toward the development of smart, tetherless, and reconfigurable multifunctional systems.     

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.     

Actuation of Three-Dimensional-Printed Nanocolloidal Hydrogel with Structural Anisotropy

Polymer hydrogels exhibit actuation properties that result in reversible shape transformations and have promising applications in soft robotics, drug delivery systems, sensors, and microfluidic devices. Actuation occurs due to differential hydrogel swelling and is generally achieved by modulating hydrogel composition. Here a different approach to hydrogel actuation that originates solely from its structural anisotropy is reported. For 3D-printed single-layer hydrogels formed by cellulose nanocrystals (CNCs) and gelatin methacryloyl it is shown that shear-induced orientation of CNCs results in anisotropic mechanical and swelling properties of the hydrogel. Upon swelling in water, planar hydrogels acquire multiple complex 3D shapes that are achieved by i) varying CNC orientation with respect to the shape on the hydrogel sheet and ii) patterning the hydrogel with the regions of shear-mediated and random CNC orientation. This study shows the capability to generate multiple shapes from the same hydrogel actuator based on the degree of its structural anisotropy. In addition, it introduces a biocompatible nanocolloidal ink with shear-thinning and self-healing properties for additive manufacturing of hydrogel actuators.     

A Multiresponsive Anisotropic Hydrogel with Macroscopic 3D Complex Deformations

As one of the most promising smart materials, stimuli‐responsive polymer hydrogels (SPHs) can reversibly change volume or shape in response to external stimuli. They thus have shown promising applications in many fields. While considerable progress of 2D deformation of SPHs has been achieved, the realization of 3D or even more complex deformation still remains a significant challenge. Here, a general strategy towards designing multiresponsive, macroscopically anisotropic SPHs (MA‐SPHs) with the ability of 3D complex deformations is reported. Through a local UV‐reduction of graphene oxide sheets (GOs) with a patterned fashion in the GO‐poly(N‐isopropylacrylamide) (GO‐PNIPAM) composite hydrogel sheet, MA‐SPHs can be achieved after the introduction of a second poly(methylacrylic acid) network in the unreduced part of GO‐PNIPAM hydrogel sheet. The resulting 3D MA‐SPHs can provide remote‐controllable light‐driven, as well as thermo‐, pH‐, and ionic strength‐triggered multiresponsive 3D complex deformations. Approaches in this study may provide new insights in designing and fabricating intelligent soft materials for bioinspired applications.     

Inherent Photodegradability of Polymethacrylate Hydrogels: Straightforward Access to Biocompatible Soft Microstructures

Hydrogels are important functional materials useful for 3D cell culture, tissue engineering, 3D printing, drug delivery, sensors, or soft robotics. The ability to shape hydrogels into defined 3D structures, patterns, or particles is crucial for biomedical applications. Here, the rapid photodegradability of commonly used polymethacrylate hydrogels is demonstrated without the need to incorporate additional photolabile functionalities. Hydrogel degradation depths are quantified with respect to the irradiation time, light intensity, and chemical composition. It can be shown that these parameters can be utilized to control the photodegradation behavior of polymethacrylate hydrogels. The photodegradation kinetics, the change in mechanical properties of polymethacrylate hydrogels upon UV irradiation, as well as the photodegradation products are investigated. This approach is then exploited for microstructuring and patterning of hydrogels including hydrogel gradients as well as for the formation of hydrogel particles and hydrogel arrays of well‐defined shapes. Cell repellent but biocompatible hydrogel microwells are fabricated using this method and used to form arrays of cell spheroids. As this method is based on readily available and commonly used methacrylates and can be conducted using cheap UV light sources, it has vast potential to be applied by laboratories with various backgrounds and for diverse applications.     

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.     

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.     

Tough Hydrogels with Programmable and Complex Shape Deformations by Ion Dip‐Dyeing and Transfer Printing

Stimuli‐responsive hydrogels with high mechanical strength, programmable deformation, and simple preparation are essential for their practical applications. Here the preparation of tough hydrogels with programmable and complex shape deformations is reported. Janus hydrogels with different compositions and hydrophilic natures on the two surfaces are first prepared, and they exhibit reversible bending/unbending upon swelling/deswelling processes. More impressively, the deformation rate and extent of the hydrogels can further be easily controlled through an extremely simple and versatile ion dip‐dyeing (IDD) and/or ion transfer printing (ITP) method. By selectively printing proper patterns on 1D gel strips, 2D gel sheets and 3D gel structures, the transformations from 1D to 2D, 2D to 3D, and 3D to more complicated 3D shapes can be achieved after swelling the ion‐patterned hydrogels in water. The swelling‐deformable Janus and ion‐patterned hydrogels with high mechanical strengths and programmable deformations can find many practical applications, such as soft machines.     

Poly(N‐isopropylacrylamide)‐Clay Nanocomposite Hydrogels with Responsive Bending Property as Temperature‐Controlled Manipulators

Novel poly(N‐isopropylacrylamide)‐clay (PNIPAM‐clay) nanocomposite (NC) hydrogels with both excellent responsive bending and elastic properties are developed as temperature‐controlled manipulators. The PNIPAM‐clay NC structure provides the hydrogel with excellent mechanical property, and the thermoresponsive bending property of the PNIPAM‐clay NC hydrogel is achieved by designing an asymmetrical distribution of nanoclays across the hydrogel thickness. The hydrogel is simply fabricated by a two‐step photo polymerization. The thermoresponsive bending property of the PNIPAM‐clay NC hydrogel is resulted from the unequal forces generated by the thermoinduced asynchronous shrinkage of hydrogel layers with different clay contents. The thermoresponsive bending direction and degree of the PNIPAM‐clay NC hydrogel can be adjusted by controlling the thickness ratio of the hydrogel layers with different clay contents. The prepared PNIPAM‐clay NC hydrogels exhibit rapid, reversible, and repeatable thermoresponsive bending/unbending characteristics upon heating and cooling. The proposed PNIPAM‐clay NC hydrogels with excellent responsive bending property are demonstrated as temperature‐controlled manipulators for various applications including encapsulation, capture, and transportation of targeted objects. They are highly attractive material candidates for stimuli‐responsive “smart” soft robots in myriad fields such as manipulators, grippers, and cantilever sensors.     

Light‐Coded Digital Crystallinity Patterns Toward Bioinspired 4D Transformation of Shape‐Memory Polymers

Spatially heterogeneous distribution of active components is key to the diverse shape‐morphing behaviors of biological species and their associated functions. Artificial morphing materials employing similar strategies have widened the design space for advanced functional devices. Typically, the spatial heterogeneity is introduced during the material synthesis/fabrication step and cannot be altered afterward. An approach that allows spatio‐selective programming of crystallinity in a shape‐memory polymer (SMP) by a digital photothermal effect is reported. The light‐patternable crystallinity affects greatly the shape morphing behavior. Consequently, a pre‐stretched 2D film with spatial heterogeneity in crystallinity can morph with time into designable 3D permanent shapes, achieving the 4D transformation. This approach utilizes a reprocessible thermoplastic SMP (polylactide) and the programming relies on a physical phase transformation (crystallization) instead of chemical heterogeneity. This allows repeated erasing and reprogramming using the same material, suggesting a versatile and sustainable means for manufacturing advanced morphing devices.