Spatiotemporally programmed dielectric liquid crystal elastomer: Electro-reversible 3D morphing via inverse 4D printing

Programmable shape-morphing materials offer transformative potential in soft robotics and biomedical engineering, yet achieving reversible and precise control over complex 3D deformations remains a notable challenge due to the difficulty in spatially programming nonlinear mechanics. Here, we introduce a shear-assisted digital light-processing 4D printing strategy for spatiotemporal programming the mechanical anisotropy of dielectric liquid crystal elastomers (DLCEs). The printed DLCE actuators exhibit reversible multidimensional shape morphing (e.g., bending, twisting, and complex curved surfaces) under electric fields, governed by regional stiffness gradients. An inverse design algorithm is also developed to convert target 3D surfaces into executable printing tasks. Submillimeter-scale fidelity in reconstructing complex geometries, such as a panda face, a biomimetic plant and the Yellow River's landform, demonstrates capabilities applicable to soft robotics and adaptive systems.