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The recent development of multi material 3D printing techniques (such as the polyjet technique) enables printing of digital materials whose properties can vary almost continuously within a large range at almost any predefined spatial location. Printing complicated geometries and digital materials, empower 3D printing to be readily integrated with novel designs to create materials or components with unprecedented properties, such as metamaterials with negative Poisson’s ratio17, ultralight and ultrastiff metamaterials18, terahertz plasmonic waveguides19, acoustic cloaks20, and medical devices21,22,23. These impressive achievements have largely relied on the control of material architecture in 3D to achieve the desired behavior, but recently a 4D printing concept was proposed where active materials were used to create shape changing components24,25,26,27,28,29,30 by carefully placing them in 3D space, which added the 4th dimension (or time) to the 3D printing process.In this work, we integrated environmentally responsive SMPs and hydrogels into 3D architectures enabled by multimaterial 3D printing to create components that can be reversibly switched between two stable and stiff configurations without the application of mechanical loading for training.
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