Precisely Controlling the Output Force of Hydrogel Actuator Based on Thermodynamic Nonequilibrium Temporary Deformation

Self-shaping hydrogel actuators have promising applications in various fields. However, one hydrogel actuator can generally access only one specifically predefined deformation and output force, which are determined by its thermodynamic equilibrium swelling state under external stimuli. Here, we present a simple yet versatile strategy for precisely programming the output force/energy of dual-gradient hydrogel actuators. The strategy is based on thermodynamic nonequilibrium snapping deformations occurring during the recovery process of predeformed dual-gradient hydrogel actuators in low-temperature water. The output force/energy of such thermodynamic nonequilibrium snapping deformation is highly associated with predeformation conditions of the hydrogel actuators, which increases with the increase of the predeformation temperature or time. In consequence, just by adjusting the predeformation conditions of the dual-gradient hydrogel actuators, their output force, energy, and power can be modulated precisely and continuously during the snapping deformation. The as-prepared hydrogel actuators can not only be used as smart lifters and grippers with ultrahigh accuracy of weight identification but also act as smart switches in the timing circuits with precisely adjustable operating time, paving the way for the design of a new generation of actuation materials.