The ability to pattern, structure, re-shape and actuate hydrogels is important for biomimetics, soft robotics, cell scaffolding and biomaterials. Here we introduce an 'ionoprinting' technique with the capability to topographically structure and actuate hydrated gels in two and three dimensions by locally patterning ions via their directed injection and complexation, assisted by electric fields. The ionic binding changes the local mechanical properties of the gel to induce relief patterns and, in some cases, evokes localized stress large enough to cause rapid folding. These ionoprinted patterns are stable for months, yet the ionoprinting process is fully reversible by immersing the gel in a chelator. The mechanically patterned hydrogels exhibit programmable temporal and spatial shape transitions, and serve as a basis for a new class of soft actuators that can gently manipulate objects both in air and in liquid solutions.

Stimuli responsive polyelectrolyte hydrogels may be useful for soft robotics because of their ability to transform chemical energy into mechanical motion without the use of external mechanical input. Composed of soft and biocompatible materials, gel robots can easily bend and fold, interface and manipulate biological components and transport cargo in aqueous solutions. Electrical fields in aqueous solutions offer repeatable and controllable stimuli, which induce actuation by the re-distribution of ions in the system. Electrical fields applied to polyelectrolyte-doped gels submerged in ionic solution distribute the mobile ions asymmetrically to create osmotic pressure differences that swell and deform the gels. The sign of the fixed charges on the polyelectrolyte network determines the direction of bending, which we harness to control the motion of the gel legs in opposing directions as a response to electrical fields. We present and analyze a walking gel actuator comprised of cationic and anionic gel legs made of copolymer networks of acrylamide (AAm)/sodium acrylate (NaAc) and acrylamide/quaternized dimethylaminoethyl methacrylate (DMAEMA Q), respectively. The anionic and cationic legs were attached by electric field-promoted polyion complexation. We characterize the electro-actuated response of the sodium acrylate hydrogel as a function of charge density and external salt concentration. We demonstrate that "osmotically passive" fixed charges play an important role in controlling the bending magnitude of the gel networks. The gel walkers achieve unidirectional motion on flat elastomer substrates and exemplify a simple way to move and manipulate soft matter devices and robots in aqueous solutions.

Oil/water (O/W) nano-emulsions have been formed in the system water/C16E6/mineral oil by the phase inversion temperature (PIT) method. The relation between the phase equilibria observed at the hydrophilic−lipophilic balance (HLB) temperature or the PIT (i.e., the nature, number, and relative volume fractions of the involved phases), the droplet sizes, and polydispersities of the resulting emulsions have been determined. Milky white emulsions were obtained when, at the HLB temperature, a three-phase equilibrium formed by water (W), shear-birefringent microemulsion (D), and oil (O) was observed. However, bluish transparent O/W nano-emulsions with droplet sizes as low as 40 nm were formed in a narrow range of oil-to-surfactant ratios in which a D or W + D phases were the initial equilibrium phases. In the W + D equilibria, droplet sizes were independent from the water content, indicating that nanodroplet formation is mainly controlled by the structure of the D phase. These results suggest that the main requirement for bluish transparent O/W nano-emulsion formation is the complete solubilization of the oil component in a bicontinuous microemulsion, independent of whether the initial phase equilibrium is single or multiphase.

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