4D-Printed Liquid Crystal Elastomers: Printing Strategies, Actuation Mechanisms, and Emerging Applications

Liquid crystal elastomers (LCEs), as a class of smart materials, have attracted significant attention across soft robotics, biomedical engineering, and intelligent devices because of their unique capabilities to undergo large, reversible, and anisotropic deformations under external stimuli. Over the years, fabrication methods have advanced from conventional molding and thin-film processing to additive manufacturing, with 4D printing emerging as a transformative approach by enabling time-dependent, programmable shape transformations. Among the available methods, direct ink writing (DIW) and vat photopolymerization are most widely adopted, with ink chemistry, rheology, curing, and printing parameters directly governing mesogen alignment and actuation performance. Recent advances in LCE actuators have demonstrated diverse functionalities in soft robotics, including bending, crawling, gripping, and sequential actuation, while biomedical applications span adaptive tissue scaffolds, wearable sensors, and patient-specific implants. This review discusses the conceptual distinction between 3D and 4D printing, compares different additive manufacturing techniques for LCE, and highlights emerging applications in the field of soft robotics and biomedical technologies. Despite rapid progress in LCE, challenges remain in biocompatibility, long-term durability and manufacturing scalability. Overall, innovations in 4D printing of LCEs underscores both the promise and the challenges of these materials, pointing toward their transformative role in enabling next-generation soft robotic and biomedical technologies.