Hydrogel-polymer hybrids have been widely used for various applications such as biomedical devices and flexible electronics. However, the current technologies constrain the geometries of hydrogel-polymer hybrid to laminates consisting of hydrogel with silicone rubbers. This greatly limits functionality and performance of hydrogel-polymer–based devices and machines. Here, we report a simple yet versatile multimaterial 3D printing approach to fabricate complex hybrid 3D structures consisting of highly stretchable and high–water content acrylamide-PEGDA (AP) hydrogels covalently bonded with diverse UV curable polymers. The hybrid structures are printed on a self-built DLP-based multimaterial 3D printer. We realize covalent bonding between AP hydrogel and other polymers through incomplete polymerization of AP hydrogel initiated by the water-soluble photoinitiator TPO nanoparticles. We demonstrate a few applications taking advantage of this approach. The proposed approach paves a new way to realize multifunctional soft devices and machines by bonding hydrogel with other polymers in 3D forms.

4D printing is an emerging fabrication technology that enables 3D printed structures to change configuration over “time” in response to an environmental stimulus. Compared with other soft active materials used for 4D printing, shape‐memory polymers (SMPs) have higher stiffness, and are compatible with various 3D printing technologies. Among them, ultraviolet (UV)‐curable SMPs are compatible with Digital Light Processing (DLP)‐based 3D printing to fabricate SMP‐based structures with complex geometry and high‐resolution. However, UV‐curable SMPs have limitations in terms of mechanical performance, which significantly constrains their application ranges. Here, a mechanically robust and UV‐curable SMP system is reported, which is highly deformable, fatigue resistant, and compatible with DLP‐based 3D printing, to fabricate high‐resolution (up to 2 µm), highly complex 3D structures that exhibit large shape change (up to 1240%) upon heating. More importantly, the developed SMP system exhibits excellent fatigue resistance and can be repeatedly loaded more than 10 000 times. The development of the mechanically robust and UV‐curable SMPs significantly improves the mechanical performance of the SMP‐based 4D printing structures, which allows them to be applied to engineering applications such as aerospace, smart furniture, and soft robots.

Vitrimers, a type of dynamically crosslinked polymers that combine the solventand heat-resistance of thermosets with the reprocessability of thermoplastics, offer a new solution to the problem of plastic pollution. However, the current recycling approaches of vitrimers greatly constrain the shapes of recycled vitrimers to simple geometries, thus significantly limiting the application scopes of recycled vitrimers. Here, a simple but universal method for upcycling vitrimer wastes is reported by developing a UV curable recycling (UVR) solution system. Conventional unprintable vitrimer powders can be mixed with the UVR solution, and the resulting mixture is compatible with digital light processing based 3D printing to fabricate 3D structures with high resolution (up to 20 µm) and high geometric complexity. Heat treatment triggers bond exchange reactions in the printed structures, and greatly enhances the mechanical properties. This method allows to cyclically print vitrimer wastes multiple times. Moreover, the UVR-vitrimer mixture solution can work as an adhesive to bond printed small parts together to build a larger and more complex structure which cannot be printed. The upcycling method reported in this work extends the application scope of recycled vitrimers and provide a practical solution to address environmental challenges associated with plastic pollution.

There are growing demands for multimaterial three-dimensional (3D) printing to manufacture 3D object where voxels with different properties and functions are precisely arranged. Digital light processing (DLP) is a high-resolution fast-speed 3D printing technology suitable for various materials. However, multimaterial 3D printing is challenging for DLP as the current multimaterial switching methods require direct contact onto the printed part to remove residual resin. Here we report a DLP-based centrifugal multimaterial (CM) 3D printing method to generate large-volume heterogeneous 3D objects where composition, property and function are programmable at voxel scale. Centrifugal force enables non-contact, high-efficiency multimaterial switching, so that the CM 3D printer can print heterogenous 3D structures in large area (up to 180 mm × 130 mm) made of materials ranging from hydrogels to functional polymers, and even ceramics. Our CM 3D printing method exhibits excellent capability of fabricating digital materials, soft robots, and ceramic devices.

Conventional robots have shown good positioning accuracy and reliability in multiple environments. However, the robots' lack of flexibility makes them unsuitable for application in certain areas. Thus, a soft robotic system should be considered due to its adaptivity and flexibility. This paper proposes a novel shape memory alloy (SMA)-actuated multiple degrees of freedom (DOF) soft robot, which theoretically supports a maximum of nine-DOF movement and good positioning accuracy. A motion test and positioning evaluation are conducted for the proposed multi-DOF soft robot. The structural design, control method, and analysis of the kinematics and the coordinate system are also given. INDEX TERMS Soft robot, shape memory alloy, neural network.