Fig. 1: Schematic of the fabrication process.

The 3D liquid crystal elastomer (LCE) structures are fabricated by a 3D assembly of heterogeneous microscale LCE voxels with programmed director fields. a Chemical structures of the utilized liquid crystal (LC) monomers ST3021, ST3866, and a dye DR1A (disperse red 1 acrylate). b A voxel with a director field along the x-axis is achieved by a two-stage rotation of a voxel with an arbitrary director field. c Schematic fabrication process of single voxels and their 3D-assembly process. d Three representative voxels with director fields along the edge, surface diagonal, and body diagonal, respectively. e 3D director fields expressed with 2D images.