Pre-Twist-dependent Configurations of Hydrogel Rings and Their Distinct Modes of Self-sustained Locomotion

Han-Lei Cheng; Qing-Li Zhu; Zhi-Jian Wang; Josef Breu; Zi-Liang Wu

doi:10.1007/s10118-026-3646-1

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Pre-Twist-dependent Configurations of Hydrogel Rings and Their Distinct Modes of Self-sustained Locomotion

Special Topic: Functional Gels | Updated：2026-05-30

- Pre-Twist-dependent Configurations of Hydrogel Rings and Their Distinct Modes of Self-sustained Locomotion
- Chinese Journal of Polymer Science Vol. 44, Issue 6, Pages: 1716-1726(2026)
- Affiliations：
  
  a.Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310058, China
  b.Bavarian Polymer Institute and Department of Chemistry, University of Bayreuth, Bayreuth 95440, Germany
- Author bio：
  
  wangzhijian@zju.edu.cn (Z.J.W.)
  Josef.Breu@uni-bayreuth.de (J.B.)
  wuziliang@zju.edu.cn (Z.L.W.)
- Funds：
- DOI：10.1007/s10118-026-3646-1
  CLC：
- Received：31 January 2026，
  
  Accepted：09 March 2026，
  
  Online First：14 May 2026，
  
  Published：05 June 2026
- Accepted：
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Cheng, H. L.; Zhu, Q. L.; Wang, Z. J.; Breu, J.; Wu, Z. L. Pre-twist-dependent configurations of hydrogel rings and their distinct modes of self-sustained locomotion. Chinese J. Polym. Sci. 2026, 44, 1716–1726

Han-Lei Cheng, Qing-Li Zhu, Zhi-Jian Wang, et al. Pre-Twist-dependent Configurations of Hydrogel Rings and Their Distinct Modes of Self-sustained Locomotion[J]. Chinese Journal of Polymer Science, 2026, 44(6): 1716-1726.
Cheng, H. L.; Zhu, Q. L.; Wang, Z. J.; Breu, J.; Wu, Z. L. Pre-twist-dependent configurations of hydrogel rings and their distinct modes of self-sustained locomotion. Chinese J. Polym. Sci. 2026, 44, 1716–1726 DOI： 10.1007/s10118-026-3646-1.

Han-Lei Cheng, Qing-Li Zhu, Zhi-Jian Wang, et al. Pre-Twist-dependent Configurations of Hydrogel Rings and Their Distinct Modes of Self-sustained Locomotion[J]. Chinese Journal of Polymer Science, 2026, 44(6): 1716-1726. DOI： 10.1007/s10118-026-3646-1.

摘要

Programming built-in twist (

) in hydrogel rings generates distinct configurations with specific stress distributions

enabling multiple self-sustained motion modes: coupled rolling and spinning

irregular tumbling

and stable rolling. This work demonstrates that internal stress programming provides a versatile strategy for achieving diverse locomotion within a single soft material system.

Abstract

Self-sustained continuous motion is a central functional objective in soft actuators and robotics. One key challenge lies in establishing a persistent

self-regulated deformation feedback in soft materials under external stimulation

which is ultimately rooted in their geometry and configuration. Here

based on a cylindrical hydrogel with fast

reversible

and anisotropic photoresponsiveness

we construct a series of hydrogel rings by twisting one end of the gel string and closing it into a loop. By reg

ulating the built-in twist (

) and the resulting internal prestress

the rings adopt distinct configurations that give rise to multiple motion modes under light irradiation. Gel rings with relatively small

remain in quasi-flat configurations and display coupled rolling and spinning motions. As

increases

the rings undergo Michell’s instability and rapidly snap into a figure-of-eight configuration upon light irradiation

subsequently exhibiting irregular tumbling motions. At even larger

the rings adopt “dough twist” configurations

showing persistent rolling under constant irradiation. Distinct motion modes arise from different actuation-deformation feedback loops established in hydrogels with distinct configurations and stress distributions. These results demonstrate not only the role of the configuration in governing locomotion

but also the potential of a single hydrogel system to achieve diverse motion behaviors through programming internal stresses.

关键词

Keywords

references

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