Stimuli-responsive conductive hydrogels have a wide range of applications due to their intelligent sensing of external environmental changes, which are important for smart switches, soft robotics, and flexible sensors. However, designing stimuli-responsive conductive hydrogels with logical operation, such as smart switches, remains a challenge. In this study, we synthesized pH-responsive conductive hydrogels, based on the copolymer network of acrylic acid and hydroxyethyl acrylate doped with graphene oxide. Using the good flexibility and conductivity of these hydrogels, we prepared a flexible sensor that can realize the intelligent analysis of human body motion signals. Moreover, the pH-responsive conductive hydrogels were integrated with temperature-responsive conductive hydrogels to develop logic gates with sensing, analysis, and driving functions, which realized the intellectualization of conductive hydrogels.

Small-scale soft grippers are adaptive and deformable, and can be utilized for confined environments (e.g., the human body). Small-scale soft grippers require logic-based computation to achieve intelligent control and perform logical analysis of the surrounding information. However, it is a great challenge to integrate electronic chips and power supplies (i.e., batteries) on their small systems. Here, the approach provides a route to add computational capabilities via environmentally responsive logic gates in small-scale soft grippers, without electronics, external control, or tethering. Various origami-inspired grippers performing YES, NOT, XOR, AND, OR, NOR and NAND gates, respectively, were developed by stimuli-responsive hydrogels as building blocks. Although the hydrogels respond to different kinds of stimuli, their outputs are the same: a change in hydrogel size, leading to the bending of the arms of the grippers. Hence, the logic gates can be integrated easily within a gripper (e.g., connecting an AND gate to another AND gate). Moreover, the gripper fabricated by dual-responsive hydrogels can intelligently and autonomously switch from an AND gate to an OR gate upon varied environmental stimuli. In addition, a magnetic gripper with an AND gate was fabricated that can analyse different stimuli, and capture and release the targeted object via the environmentally responsive logic gates. This strategy provides a new route to incorporate on-board perception, control and computation via environmentally responsive logic gates in small-scale soft robots and machines.