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3dp 2015 0039
3dp 2015 0039
REVIEW
Abstract
3D printing has been recognized as a disruptive technology for future advanced manufacturing systems. With a
great potential to change everything from our daily lives to the global economy, significant advances in 3D
printing technology have been made with respect to materials, printers, and processes. In this context, although
similar to 3D printing technology, 4D printing technology adds the fourth dimension of time. 4D printing allows
a printed structure to change its form or function with time in response to stimuli such as pressure, temperature,
wind, water, and light. Recently, rapid advances in printing processes and materials development for 3D
printing have allowed the printing of smart materials or multimaterials designed to change function or shape. In
this review, we first compare the similarities and differences between 3D printing and 4D printing. We then
look into the main factors composing 4D printing technology such as smart materials and designs. Finally, we
summarize the current applications of 4D printing.
Introduction
Additive manufacturing, more popularly known as 3dimensional (3D) printing technology, has been developed
for more than 30 years. Recently, 3D printing has been recognized as a disruptive technology for future advanced
manufacturing systems. With a great potential to change
everything from our daily lives to the global economy, significant advances in 3D printing technology have been made
with respect to materials, printers, and processes.1,2 In this
context, an innovative concept of printing technology known
as 4D printing technology has been developed. The term 4D
printing was introduced by Skylar Tibbits in his TED conference talk.3 Although similar to 3D printing, 4D printing
technology involves the fourth dimension of time in addition to
the 3D space coordinates. Therefore, one can regard 4D
printing as giving the printed structure the ability to change its
form or function with time (t) under stimuli such as pressure,
temperature, wind, water, or light. Figure 1 depicts a schematic
of the 1-, 2-, 3-, and 4D concepts. The concepts of 1-, 2-, and
3D represent line, plane, and 3D space structures, respectively.
For 4D, the concept of changes in the 3D structure (x, y, z) with
respect to time (t) is added, as indicated by curved arrows. The
3D printed structure can change its color, shape, function, or
other characteristics in response to stimuli such as temperature,
water, ultraviolet (UV) rays, or magnetic energy.47 In this
review, we first compare the similarities and differences between 3D printing and 4D printing. We then discuss the main
factors and recent trends in 4D printing technology such as
smart materials and designs. Finally, we discuss the current
applications of 4D printing.
3D printing is defined as an additive manufacturing
method for the fabrication of 3D structures by layering materials depending on a predetermined design. However, there
is currently a tendency to use 3D printing as a representative
term for all additive manufacturing technologies. 3D printing
technology is a convergence technology that uses materials,
designs, and 3D printers for certain applications since it was
first described in 1984.8 Recently, many countries have declared 3D printing technology to be an innovative production
manufacturing technology leading the global megatrend for the
manufacturing industry. Open-source projects such as RepRap
in the United Kingdom began after the expiration of major 3D
printing patents owned by Stratasys Inc. and 3D Systems Inc.,
leading to the sharing of important technical data for printer and
process creation. Such open-source projects also led to the
explosive development and application of 3D printing technology to diverse industries, such as sports, culture, electronics,
and aerospace. Recently, innovative advances have been made
in 3D printing technology with regard to printing processes and
materials. Carbon 3D Inc. recently announced a new continuous liquid interface production method that can print an
3D Printing Group, Computational Science Research Center, Korea Institute of Science and Technology, Seoul, Republic of Korea.
Department of Multimedia Science, Sookmyung Womens University, Seoul, Republic of Korea.
Department of Mechanical Systems Engineering, Hansung University, Seoul, Republic of Korea.
*These two authors contributed equally to this work.
2
3
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CHOI ET AL.
FIG. 1. Schematic of 1-, 2-, 3-, and 4D concepts. A 4D structure is a structure (x, y, z) made by 3D changes over time (t).
Arrows indicate the direction of change with respect to time.
object 100 times faster than existing methods by creating an
oxygen depletion zone in liquid resins.9 New or smart materials and multimaterial composites have been also introduced with dramatic improvements in performance. For
certain functional applications, many efforts have focused on
the fabrication of new materials with desired functionality by
mixing nanomaterials such as graphene, carbon nanotubes,
and functionalized nanoparticles or biomaterials with existing 3D printing materials.10,11
4D Printing
To construct 3D structures, materials such as plastic, metal, and ceramics are widely used as 3D printing materials.
However, most of these materials are not applicable to 4D
printing because of their lack of reaction to external stimuli.
Recently, more materials with functional properties have
been printed using 3D printers by adjusting or modifying
process parameters such as nozzle characteristics, temperature, and printing environment. Therefore, the proper choice
of materials is important for 4D printing.
Recent developments have yielded several smart materials for functional 3D printing or 4D printing, including materials that self-assemble in response to temperature, UV rays,
self-degradation, or water absorption.8,1319 One recently introduced 4D printing material utilizes water absorption capabilities to produce a 4D printed structure. A research group at
Massachusetts Institute of Technology (MIT) has printed
multimaterials that change shape underwater.16 The group
used two different materials with different porosities and water
absorption capacities to print bimaterial structures. These
structures have a porous water-absorbing material on one side
Thermoplastics
Metals
Ceramics
Biomaterials or nanomaterials
Design
Printer
Change
Application
As printed
Jewelry, toys, fashion, entertainment,
automobile, aerospace,
defense, and bio/medical devices
4D printing
Self-assembled materials
Multimaterials
Designed materials
Examples: shape memory alloy/polymer,
self-degradation/deformation materials, temperatureor UV-driven materials
3D digital information for change (deformation)
Smart 3D printer
Examples: modified nozzle, binder, and laser
Multimaterial 3D printer
Examples: solid/liquid, solid/solid, gradient materials,
and nanocomposites
Changed after printing in shape, color, function, etc.
Dynamically changing configuration for all applications
by 3D printing
4D PRINTING TECHNOLOGY
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can be triggered by UV irradiation or sunlight.20,21 UVresponsive polymer chains that include azo compounds can
deform as shown in Figure 3. UV light energy induces the
deformation of the polymer chain structure, triggering a color
change from white to purple. This color change is caused by a
shift in the polymeric chain from the ordered nematic phase
to the disordered phase.22 When maintained in a dark environment, the color of the printed object returns to the original
white. Instead of color, the shapes or surface patterns of some
light-responsive materials have been known to change via
similar mechanisms. These light-responsive materials can be
used in shopping bag packaging, aerospace structures, photovoltaics, and biomedical devices.22 UV-responsive materials are available as ME filaments, and promising applications
of UV-responsive materials exist in areas such as the fashion
and entertainment industries.
Biomaterials are a major class of smart materials for
4D printing. Functional materials capable of autonomously
degrading in the body were studied in late 1990 with 3D
printing technology.23 Because the human body is composed
of dynamically and continuously moving systems, each part
is exposed to a unique environment and must therefore respond over time to differences in conditions such as temperature or body fluid. Therefore, printed body parts or
structures should have dynamic functional behaviors for
use in vivo. In this regard, biocompatible materials should
degrade in the body environment within a certain period
of time. Temperature-, water-, or UV-responsive reactions
occur in the aforementioned materials over periods ranging
from a few seconds to days in the body, whereas the biomaterials may take several years to degrade completely in a
fluid environment. Well-known self-degrading materials are
polylactic acid (PLA) and poly-caprolactone (PCL). PLA is
the major material for the ME method, and PCL is the major
material for the selective laser sintering methods.24,25 Both
materials have been reported to degrade over a period of
several years until the polymer chain has completely dissolved in body fluid.25,26
However, these approaches did not consider any timedependent changes except for degradation. Morrison et al.
created a supporting structure using the stereolithography
FIG. 2. Examples of 4D printing technology. (a) Transformation of a structure from 1D to 3D with water absorption materials,
printed by Massachusetts Institute of Technology (MIT). Reprinted with permission from Tibbits.14 Copyright 2014 John Wiley
& Sons, Ltd. (b) Temperature-responsive design of artificial hands by Korea Institute of Science and Technology. (c) Functional
3D device fabricated by MIT. Reprinted with permission from Miyashita et al.6 Copyright 2015, IEEE.
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CHOI ET AL.
FIG. 3. Printing examples using a photoresponsive material: (a) cat, (b) flower, and (c) schematic description of changes
in the polymer microstructure in response to light.
(SL) apparatus method with liquid PCL for infants with severe tracheobronchomalacia to prevent airway collapse during normal breathing.27 PCL is known as a biodegradable and
biocompatible material.28 While Morrison et al. printed the
supporting structure with a customized design for patients
less than 1 year old, the splint accommodated changes in
FIG. 4. (a) Digital Imaging and Communications in Medicine images of a patients computed tomography scan used to
generate a 3D model of the patients airway via segmentation in Mimics. (b) Stereolithography representation of a
tracheobronchial splint demonstrating the bounded design parameters of the device. (c) Final 3D printed poly-caprolactone
tracheobronchial splint. (d) Mechanism of action of the tracheobronchial splint in treating tracheobronchial collapse in
tracheobronchomalacia. Reprinted with permission from Morrison et al.27 Copyright 2015, The American Association for
the Advancement of Science.
4D PRINTING TECHNOLOGY
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FIG. 5. 4D printing with a shape memory polymer. (a) Schematic of the folding mechanism and (b) representative images
for folding by heat. Reprinted with permission from Ge et al.39 Copyright 2013, AIP Publishing LLC.
Smart design
FIG. 6. (a) Left: rendered illustration of the primitive folding. This design is composed of bars and disks. The disks in the
center act as stoppers. By adjusting the distances between the stoppers, it is possible to set the final folding angle. Right:
video frames of the fabricated primitive folding in water over time. (b) Fabricating a time-varying curve. From left to right
and top to bottom, the curve deforms over time into a different shape. Reprinted with permission from Raviv et al.40
Copyright 2014, rights managed by Nature Publishing Group.
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stimuli. For example, Ge et al. investigated the design variables that are important for creating a laminated architecture.39 They examined various fiber orientations and volume
fractions as well as the magnitude of the curvature as a
function of the composite geometry, applied mechanical
load, and thermal history. A two-layer laminate consisting of
one lamina layer with fibers at a prescribed orientation and
one layer of pure matrix material was constructed (Figure 5a).
When the samples were heated, the printed two-layer laminates transformed into bent, coiled, and twisted strips; folded
shapes; and complex contoured shapes with nonuniform and
spatially varying curvatures depending on each samples
prescribed fiber architecture (Figure 5b).
Raviv et al. fabricated self-evolving structures with a variety
of highly specific joint designs for folding, curling, twisting,
linear expansion, and shrinkage as well as other transformations in the presence of water.40 They used a computational
design approach to characterize topology transformations of
the various self-evolving structures. As a design step, the group
modeled three primitives: a linear stretching primitive, a ring
stretching primitive, and a folding primitive. Two different
models were created for stretching, and another model was
created for folding. The length of the linear stretching primitive
could be controlled over time. By adjusting the ratio of expanding material in the middle to the rigid disks as shown in
Figure 6a, they were able to change the length of stretching
and the percentage of linear expansion in the joint. The ring
stretching primitive was based on expansion of the ring-like
shape into a bar. Because the inner and outer rings were
printed with different materials, the inner ring expanded and
forced the structure to deform into a bar shape once the
structure was submerged in water. By controlling the radius
CHOI ET AL.
FIG. 7. (a) Folding processes of cubes printed with a composite material with a hinge made of shape memory polymer.
Reprinted with permission from Ge et al.39 Copyright 2013, AIP Publishing LLC. (b) Folding processes of cubes printed
with a single shape memory material. (c) Hinge design of a heat-induced folding cube made from a single material.
4D PRINTING TECHNOLOGY
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