Thermally responsive rolling of thin gel strips with discrete variations in swelling

By Jungwook Kim, J. Hanna, R. Hayward, C. Santangelo. 2012

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From 3D to 4D printing: approaches and typical applications (2015, methodology): “Apart from using two different materials, one gel with a gradient cross-linking level is an alternative to achieve non-uniform swelling/shrinkage ratio within the gel to practically achieve switching of configuration [22, 26].”
Developments in 4D-printing: a review on current smart materials, technologies, and applications (2019, background): “[32,49,55], geometry design [37,56], and pattern design [48,52].”
Mechanical metamaterials associated with stiffness, rigidity and compressibility: a brief review (2017, background): “, responsive micro-patterned hinges or creases [166,183].”
Functional stimuli responsive hydrogel devices by self-folding (2014, methodology): “Kim et al demonstrated buckled gel surfaces using differential swelling of pNIPAM hydrogels using half-tone lithography [33, 34].”