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Cited by 168Advanced Materials and MechanicsSoft Robotics and ApplicationsDielectric materials and actuators

A dynamically reprogrammable surface with self-evolving shape morphing

Open access
Bai, Yun, Wang, Heling, Xue, Yeguang, Pan, Yuxin, Kim, Jin-Tae, Ni, Xinchen, Liu, Tzu-Li, Yang, Yiyuan +4 more·2022·Nature
DOI 10.1038/s41586-022-05061-w

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Abstract

Dynamic shape-morphing soft materials systems are ubiquitous in living organisms; they are also of rapidly increasing relevance to emerging technologies in soft machines 1-3, flexible electronics 4,5 and smart medicines 6. Soft matter equipped with responsive components can switch between designed shapes or structures, but cannot support the types of dynamic morphing capabilities needed to reproduce natural, continuous processes of interest for many applications 7-24. Challenges lie in the development of schemes to reprogram target shapes after fabrication, especially when complexities associated with the operating physics and disturbances from the environment can stop the use of deterministic theoretical models to guide inverse design and control strategies 25-30. Here we present a mechanical metasurface constructed from a matrix of filamentary metal traces, driven by reprogrammable, distributed Lorentz forces that follow from the passage of electrical currents in the presence of a static magnetic field. The resulting system demonstrates complex, dynamic morphing capabilities with response times within 0.1 second. Implementing an in situ stereo-imaging feedback strategy with a digitally controlled actuation scheme guided by an optimization algorithm yields surfaces that can follow a self-evolving inverse design to morph into a wide range of three-dimensional target shapes with high precision, including an ability to morph against extrinsic or intrinsic perturbations. These concepts support a data-driven approach to the design of dynamic soft matter, with many unique characteristics.

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Crossref · 10.1038/s41586-022-05061-w

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  • This type of FIM can morph its three-dimensional surface shape into a wide variety of target configurations within milliseconds.

    “This type of FIM can morph its 3D surface shape into a wide variety of target configurations within milliseconds.”

    From Emerging Technologies in Intelligent Metasurfaces: Shaping the Future of Wireless Communications (2026) · cites this paper as [28]

    The Abstract reports a wide range of 3D target shapes and a mechanical response time within 0.1 s (100 ms). But that response time is not the time needed to reach a target through self-evolving optimization: the Additional information section reports 5–15 iterations at about 0.25 s per feedback-control cycle. The claim conflates rapid physical response with completion of target-shape morphing. (LLM, conf=0.87)

    Experimental — accuracy not yet measured

  • Through an integrated digital control scheme and in-situ stereo imaging feedback, the FIM is capable of morphing into a variety of target shapes with response time in milliseconds.

    “Through an integrated digital control scheme and in-situ stereo imaging feedback, the FIM is capable of morphing into a variety of target shapes with response time in milliseconds.”

    From Emerging Technologies in Intelligent Metasurfaces: Shaping the Future of Wireless Communications (2026) · cites this paper as [28]

    The Abstract reports digitally controlled actuation with in-situ stereo-imaging feedback, morphing into a wide range of target shapes, and a mechanical response time within 0.1 s. But the feedback-guided process is slower: Additional information reports approximately 0.25 s per feedback cycle and 5–15 iterations for a representative target shape. The millisecond-scale response therefore does not describe completion of the feedback-guided target morphing claimed here. (LLM, conf=0.87)

    Experimental — accuracy not yet measured

  • A shape-morphable FIM has been developed using a mesh of tiny metallic filaments that can be precisely controlled by reprogrammable Lorentz forces generated by electrical currents passing through a static magnetic field.

    “More recently, a shape-morphable FIM has been developed using a mesh of tiny metallic filaments that can be precisely controlled by reprogrammable Lorentz forces generated by electrical currents passing through a static magnetic field [28].”

    From Emerging Technologies in Intelligent Metasurfaces: Shaping the Future of Wireless Communications (2026) · cites this paper as [28]

  • Bai et al. [28] created an FIM made of a mesh of filamentary metal traces, where programming distributed Lorentz forces generated by passing electrical currents in the presence of a static magnetic field accurately controls local deformations with high fidelity.

    “Similarly, Bai et al. [28] created an FIM made of a mesh of filamentary metal traces. By programming distributed Lorentz forces generated by passing electrical currents in the presence of a static magnetic field, local deformations can be accurately controlled with high fidelity.”

    From Emerging Technologies in Intelligent Metasurfaces: Shaping the Future of Wireless Communications (2026) · cites this paper as [28]

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Cites

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Research works printed but not linked: 16

  1. McEvoy, M. A. & Correll, N. Materials that couple sensing, actuation, computation, and communication. Science 347, 1261689 (2015).
  2. Wang, C., Wang, C., Huang, Z. & Xu, S. Materials and structures toward soft electronics. Adv. Mater. 30, 1801368 (2018).
  3. Boley, J. W., Rees, W., Lissandrello, C., Horenstein, M. N. & Mahadevan, L. Shape- shifting structured lattices via multimaterial 4D printing. Proc. Natl. Acad. Sci. U.S.A. 116, 201908806 (2019).
  4. Kotikian, A., Truby, R. L., Boley, J. W., White, T. J. & Lewis, J. A. 3D printing of liquid crystal elastomeric actuators with spatially programed nematic order. Adv. Mater. 30, 1706164 (2018).
  5. Ford, M. J. et al. A multifunctional shape-morphing elastomer with liquid metal inclusions. Proc. Natl. Acad. Sci. U.S.A. 116, 21438-21444 (2019).
  6. Ze, Q. et al. Magnetic shape memory polymers with integrated multifunctional shape manipulation. Adv. Mate. 32, 1906657 (2020).
  7. Zhang, F. et al. Rapidly deployable and morphable 3D mesostructures with applications in multimodal biomedical devices. Proc. Natl. Acad. Sci. U.S.A. 118, e2026414118 (2021).
  8. Fan, Z. et al. Inverse design strategies for 3D surfaces formed by mechanically guided assembly. Adv. Mater. 32, 1908424 (2020).
  9. Bossart, A., Dykstra, D. M., van der Laan, J. & Coulais, C. Oligomodal metamaterials with multifunctional mechanics. Proc. Natl. Acad. Sci. U.S.A. 118, e2018610118 (2021).
  10. Baek, C., Martin, A. G., Poincloux, S., Chen, T. & Reis, P. M. Smooth triaxial weaving with naturally curved ribbons. Phys. Rev. Lett. 127, 104301 (2021).
  11. Hines, L., Petersen, K., Guo, Z. L. & Sitti, M. Soft actuators for small-scale robotics. Adv. Mater. 29, 1603483 (2016).
  12. Yao, Y. et al. Multiresponsive polymeric microstructures with encoded predetermined and self-regulated deformability. Proc. Natl. Acad. Sci. U.S.A. 115, 12950-12955 (2018).
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  14. Kotikian, A. et al. Innervated, Self-sensing liquid crystal elastomer actuators with closed loop control. Adv. Mater. 33, 2101814 (2021).
  15. Wang, X. et al. Freestanding 3D mesostructures, functional devices, and shape- programmable systems based on mechanically induced assembly with shape memory polymers. Adv. Mater. 31, 1805615 (2019).
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Authors
Bai, Y., Wang, H., Xue, Y., Pan, Y., Kim, J.-T., Ni, X., Liu, T.-L., Yang, Y., Han, M., Huang, Y., Rogers, J. A., & Ni, X.
Affiliations
  • Duke University (US)
  • Northwestern University (US)
Corresponding author
  • Wang, Heling
  • Ni, Xinchen
  • Huang, Yonggang
  • Rogers, John A.
  • Ni, Xiaoyue
ORCID
Venue
Nature
Publisher
Springer Science and Business Media LLC
Published
2022-09-21
Volume
609
Issue
7928
Pages
701-708
ISSN
  • 0028-0836 (ISSN-L)
  • 1476-4687
DOI
10.1038/s41586-022-05061-w
OpenAlex
W4296552404
Cited by
168
References
2
Citations by year
2026: 33 · 2025: 56 · 2024: 45 · 2023: 33 · 2022: 1
FWCI
12.73
Type
journal article
Language
en
Open access
Licence
Locations
  • Nature (publishedVersion)
  • Research Square (acceptedVersion, cc-by)
  • PubMed (publishedVersion)
  • arXiv (Cornell University) (submittedVersion)
  • RePEc: Research Papers in Economics (submittedVersion)
  • arXiv (Cornell University)
Funders
  • National Science Foundation (1635443)
  • Division of Civil, Mechanical and Manufacturing Innovation
Topics
  • Physical Sciences › Engineering › Mechanical Engineering › Advanced Materials and Mechanics
  • Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
  • Physical Sciences › Engineering › Biomedical Engineering › Dielectric materials and actuators
Keywords
shape morphing, Lorentz force actuation, inverse design, data-driven design, distributed actuation

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