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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. 2 — A Mechanism of the bilayer bending. B Schematic of the heterogenous hinge module design and morphing. C Shape fixity of B1 under different strains and the experiment (error bars are standard deviations based on 5 experimental results), theory prediction, and FEA results of bending angles as the function of the applied strain of the hinge module. D Designed and printed hinge, and the experiment and FEA results of the cold-draw induced bending. E Cold-draw programming (CP) and shape-recovering (SR) of g-DLP printed structures. F Cold-draw programming with different hinge distributions. G Cold-draw programming of helices with 30%(upper) and 60%(lower) strain, respectively. The white color hinge indicates rubbery matrix on the top side, while the orange color hinge indicates rubbery matrix on the bottom side. (F) and (G) share the same color map as (D). All scale bar is 1 cm.