(294b) Beyond Layers: 3D-Printable Morphing Architectures Via Programmable Stress

Significant advancements in soft robotics have been achieved using polymeric materials that actively respond to external stimuli via shape memory or physico-chemical interactions with their surroundings. Recent excitement has been generated by applying these responsive properties to produce shape-shifting 2D structures capable of morphing into complex 3D topologies. However, manufacturing these active components generally requires specialized chemical formulations and sophisticated multi-material patterning capabilities only available in research laboratory settings, significantly limiting their impact. Here, we show how this barrier can be overcome by using 3D printing to embed prescribed internal stresses within a planar 2D substrate, mirroring the hierarchical structures found in living systems. We introduce a library of elemental building blocks designed to distribute strain across multiple scales and show how these components can be assembled into active systems with tunable mechanical properties. Finally, we apply these principles to produce functional devices such as self-activating oleophilic sponges, precision mechanical grippers, and autonomous self-tying knots. Importantly, these components can be manufactured using standard 3D printers and materials, thereby democratizing access to soft robotics technology.