Changyue Liu,Kai Li,Xinzi Yu,Jiping Yang,Zhijian Wang
Tensegrity structure is composed of tensile cables and compressive rods, offering high stiffness-to-mass ratio, deploy ability, and excellent energy damping capability. The active and dynamic tensegrity designs demonstrate great potential for soft robots. In previous designs, the movement has relied on carefully controlled input power or manually controlled light irradiation, limiting their potential applications. Here, a hybrid tensegrity structure (HTS) is constructed by integrating thermally responsive cables, nonresponsive cables, and stiff rods. The HTS can self-propel continuously on a hot surface due to its unique geometry. The HTS allows for the easy achievement of multimodal self-propelled locomotive modes, which has been challenging for previously demonstrated self-propelling structures. Additionally, using Velcro tapes to adhere the rods and cables together, a modulable and reassemblable HTS is created. The HTS introduced in this study presents a new strategy and offers a large design space for constructing self-propelling and modulable robots.
Juan Wang,Xu Han,Qingtai Li,Meng Qin,Bin Xue,Wenxu Sun,Yi Cao,Wei Sun
Hydrogels with spatially programmable mechanical properties hold great potential for use in biomedical applications. Inspired by the architecture of the cytoskeleton, we present a strategy for constructing tensegrity-structured hydrogels (TS-Gels) through enzyme-triggered crystal growth to enable precise mechanospatial manipulation. Specifically, alkaline phosphatase (ALP) was covalently anchored to a polyacrylamide (PAAm) hydrogel matrix to catalyze the in situ dephosphorylation of phosphotyrosine precursors, leading to the formation of rigid tyrosine crystals. These crystals functioned as compressive sticks, establishing tensegrity structures within the hydrogel network. By tuning the crystallization kinetics, both the structural morphology and mechanical reinforcement could be precisely controlled. The resulting TS-Gels exhibited significantly enhanced local tensile strength and stiffness, allowing for spatial–mechanical patterning via photo-initiated printing, mold-assisted shaping, and laser engraving. Furthermore, the unique mechanospatial tunability of TS-Gels was demonstrated in tribological surface engineering, underscoring their potential for use in tissue engineering and responsive biomaterials.
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