Fig. 4: Demonstration of reversible shape-changing structures and soft robotic systems when the temperature changes between room temperature (RT) and 100 °C.
From: 4D printing through vat photopolymerization of two-stage UV-curable liquid crystal elastomers
a A deployable antenna model, b morphing aircraft wings, c a 4D-printed Eiffel Tower model, d a medical stent, e a single-layer flower, and f a double-layer flower in blossom. g 4D-printed hand models showing different gestures in response to temperature changes. h A prosthetic arm demonstrating reversible actuation, with elbow bending and hand contraction into a fist. i A simplified soft robotic system that grips and lifts a dumbbell. j An inchworm soft robot in the as-printed configuration. k Inchworm-like crawling motion under successive heating and cooling cycles. Scale bars in all panels are 1 cm.
