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. 2023 Sep 8;14:5519. doi: 10.1038/s41467-023-41170-4

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 1 — A Schematic illustration of the bottom-up g-DLP multi-property 3D printing. B Chemical structure of the monomers. C Stress-strain curves for B1, B2, and B3. D Storage modulus and tan δ as a function of temperature for B1, B2, and B3. The onset temperatures for B1 and B2 are marked as T_c1 and T_c2. E Hot-programming shape memory and recovery of B1. F Cold-programming shape memory and recovery of B1, the dash lines are results from the FEA simulation, and the solid lines are from the experiment. G A g-DLP printed strip with three grayscale levels and its hot-programming (HP) at 80 °C following shape recovery (SR) at 50 and 80 °C. H Elastic deformation of the middle region of B3. I Cold-compression programming of a graded lattice at room temperature (RT) and the corresponding three-stage force and strain curve, following shape recovery at 50 and 80 °C. All scale bar is 1 cm.