In recent years, light-guided robotic soft actuators have attracted intense scientific attention and rapidly developed, although it still remains challenging to precisely and reversibly modulate the moving directions and shape morphing modes of soft actuators with ease of stimulating operation. Here we report a strategy of building a multi-stimuli-responsive liquid crystal elastomer soft actuator system capable of performing not only multi-directional movement, but also different shape morphing modes. This strategy is based on the selective stimulation of specific domains of the hierarchical structured actuator through the modulation of three wavelength bands (520, 808, 980 nm) of light stimulus, which release the actuation system from light scanning position/direction restriction. Three near-infrared dual-wavelength modulated actuators and one visible/infrared tri-wavelength modulated multi-directional walker robot are demonstrated in this work. These devices have broad application prospects in robotic and biomimetic technology.

In nature, plant tendrils can produce two fundamental motion modes, bending and chiral twisting (helical curling) distortions, under the stimuli of sunlight, humidity, wetting or other atmospheric conditions. To date, many artificial plant-like mechanical machines have been developed. Although some previously reported materials could realize bending or chiral twisting through tailoring the samples into various ribbons along different orientations, each single ribbon could execute only one deformation mode. The challenging task is how to endow one individual plant tendril mimic material with two different, fully tunable and reversible motion modes (bending and chiral twisting). Here we show a dual-layer, dual-composition polysiloxane-based liquid crystal soft actuator strategy to synthesize a plant tendril mimic material capable of performing two different three-dimensional reversible transformations (bending versus chiral twisting) through modulation of the wavelength band of light stimuli (ultraviolet versus near-infrared). This material has broad application prospects in biomimetic control devices.

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