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. 2022 Dec 24;13:7931. doi: 10.1038/s41467-022-35622-6

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© The Author(s) 2022

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 license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license 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 license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a, b Grid pattern boards with orthogonal black lines and white squares to investigate the size of two-material transition zoom. c A printed letter with black characters embedded into a white board. Scale bars in (c), 10 mm. d Concept of a printed digital material. Scale bars in (d): left, 5 mm; right, 1 mm. e Modulus variation of digital material with different hard polymer content. f Demonstration of printed specimens exhibiting multiple mechanical properties at different locations. Scale bars in (f), 10 mm. g–j Demonstrations of a 4D printed hand: design (g), printed artifact (h), finger bending after being submerged into water for 1 h (i) and 6 h (j). Scale bars in (h–j), 10 mm.