Hierarchically reversible crosslinking polymeric hydrogels with highly efficient self-healing, robust mechanical properties, and double-driven shape memory behavior

A hierarchically reversible crosslinked hydrogel has been designed with excellent mechanical properties, efficient self-healability and double-driven shape memory effect (pH, Ca ²⁺ ). A soft catcher actuator was constructed, which could catch a plastic fish in Ca ²⁺ solution.