Direct-Ink-Write 3D Printing of Hydrogels into Biomimetic Soft Robots

Abstract

Hydrogels are promising starting materials for biomimetic soft robots as they are intrinsically soft and hold properties analogous to nature's organic parts. However, the restrictive mold-casting and post-assembly fabrication alongside mechanical fragility impedes the development of hydrogel-based soft robots. Herein, we harness biocompatible alginate as a rheological modifier to manufacture 3D freeform architectures of both chemically and physically cross-linked hydrogels using the direct-ink-write (DIW) printing. The intrinsically hydrophilic polymer network of alginate allows the preservation of the targeted functions of the host hydrogels, accompanied by enhanced mechanical toughness. The integration of free structures and available functionalities from diversified hydrogel family renders an enriched design platform for bioinspired fluidic and stimulus-activated robotic prototypes from an artificial mobile tentacle, a bioengineered robotic heart with beating-transporting functions, and an artificial tendril with phototropic motion. The design strategy expands the capabilities of hydrogels in realizing geometrical versatility, mechanical tunability, and actuation complexity for biocompatible soft robots.