3.1. Preparation of PAM/PVA/CNC/LiCl hydrogel
As shown in Fig. 1, the schematic diagram of the preparation process of PAM/PVA/CNC/LiCl hydrogel was introduced. The hydrogel constructed a semi-IPN hydrogel network by cross-linking the PAM network and linear polyvinyl alcohol chains with the introduction of dimethyl sulfoxide (DMSO) and cellulose nanocrystals (CNC) as a cryoprotectant reinforcement. The freezing point of water could be lowered due to the formation of strong hydrogen bonds between the sulfinyl groups in DMSO and water molecules. The co-solvent system could effectively lower the freezing point of water and inhibit the formation of ice crystals in the gel network. The addition of LiCl contributed to the high ionic conductivity. In addition, LiCl was attached to PVA molecular chains through ionic interaction with COO−, and its strong hydration strengthened the binding of PVA to surrounding water molecules while achieving excellent water association ability[27].
3.2. Morphology observation
To explore the microstructure of the prepared PAM/PVA/CNC/LiCl hydrogel, the morphology of the freeze-dried hydrogel was observed by scanning electron microscopy (SEM). As shown in Fig. 2, compared with PAM/PVA/CNC0/LiCl2.4 hydrogel (Fig. 2a), the pore size of PAM/PVA/CNC0.5/LiCl2.4 hydrogel became smaller (Fig. 2b). The pores of the hydrogel would generate many new pores after the addition of CNC, which could be seen that the successful mixing of CNC proved that the addition of CNC had a strengthening effect on the skeleton of the hydrogel. The porous structure of the hydrogel would allow the free Li+ in the hydrogel to have more flow channels, thereby improving the sensing performance of the hydrogel and making it better applied to flexible sensors.
3.3. FTIR Analysis
As shown in Fig. 3, for the FTIR spectrum of the hydrogel, the characteristic absorption peaks of the amide group were obvious, including the N-H bending vibration peak at 1641 cm− 1 and the C-N stretching vibration peak around 1326 cm− 1. This indicated that all hydrogels had the same PAM amide groups. In addition, for PAM/PVA hydrogels, the absorption peaks of primary amino groups tended to merge into a broad band at 3339 cm− 1, which was due to the effect of hydrogen bonds between PAM and PVA, when the hydrogel was added after CNC, the absorption peaks of the primary amino groups of the hydrogel began to shift to the low wave number band, which was caused by the intermolecular and intramolecular hydrogen bonds between CNC and PVA. The peak at 1012cm− 1 was the absorption vibration peak of the sulfoxide S = O bond. The change of the absorption vibration peak of the sulfoxide S = O bond could be understood as the physical effect of DMSO. These indicated the formation of a robust semi-IPN network in the prepared PAM/PVA hydrogels.
3.4. Mechanical Properties
As shown in Fig. 4, the PAM/PVA/CNC/LiCl hydrogel exhibited excellent ductility and good mechanical properties. The PAM/PVA/CNC/LiCl hydrogel could be stretched more than twice its original length without breaking (Fig. 4a), and it could also be stretched to twice the length even when twisted (Fig. 4b), which shows that the good ductility of PAM/PVA/CNC/LiCl hydrogel. The PAM/PVA/CNC/LiCl hydrogel could be compressed and returned to its original height after being stressed (Fig. 4c). In addition to good ductility, PAM/PVA/CNC/LiCl hydrogel also had good mechanical properties, which was specifically shown by using a thin PAM/PVA/CNC/LiCl hydrogel through a rubber band and a 500g weight. It could be seen that it can easily lift a 500g weight (Fig. 4d). Therefore, the PAM/PVA/CNC/LiCl hydrogel had good mechanical properties and ductility, making it an ideal material for flexible sensors.
As shown in Fig. 5, the tensile stress-strain curves of all PAM/PVA/CNC/LiCl hydrogels showed high stress and strain. Wherein the elongation at break of the hydrogel without adding CNC was 202%, and the tensile breaking stress was 80kPa, while for the hydrogel of PAM/PVA/CNC0.5/LiCl2.4, the elongation at break of the hydrogel could be up to 354%, the tensile fracture stress could reach 170kPa. As shown in Fig. 5b, as the CNC content in the hydrogel increased, the mechanical properties of the hydrogel gradually increased and then decreased slowly. The introduced CNCs could be regarded as the cross-linking points of semi-IPNs because they could form a large number of hydrogen bonds with functional group polymer chains with high specific surface area. This explained why the mechanical properties of hydrogels increase with the increase of CNC content. When the content of CNC in the hydrogel was too much, it would lead to the aggregation of CNC in the hydrogel or the formation of more microcrystals, which would make the three-dimensional network structure unevenly distributed, resulting in a decrease in the mechanical properties of the hydrogel.
3.5. Self-Adhesiveness
Unlike traditional wearable sensor devices, flexible sensors assembled based on hydrogels could detect signals without sticking to the skin with materials such as tapes. To conveniently monitor human motion and physiological signals and avoid interface delamination under repeated deformation as a sensor, proper adhesion must be maintained between wearable devices and human skin, and flexible wearable devices based on hydrogels had high excellent adhesion performance, and would not cause discomfort or even damage to the human body due to long-term high-current stimulation. As shown in Fig. 6, the as-prepared PAM/PVA/CNC/LiCl hydrogel exhibited excellent adhesion to various surfaces including glass, iron, leather, plastic, rubber, and other materials. The weight of 200g could also be easily stuck by PAM/PVA/CNC/LiCl hydrogel. The results showed that the PAM/PVA/CNC/LiCl hydrogel could be widely used in the adhesion of various material surfaces.
3.6. Ionic conductivity
As shown in Fig. 7a, the PAM/PVA/CNC/LiCl hydrogel was connected to the circuit through a wire and a 3V power supply, and it could be found that the LED light was lit, even when the hydrogel was stretched, the LED light still lit but with a noticeable change in bulb brightness. The reason was that when the hydrogel was stretched, its conductive pathways were stretched, the distance between ions became longer, and the transmission of electrons in the pore structure of the hydrogel was blocked, increasing the resistance of the hydrogel and a decrease in the conductivity. As shown in Fig. 7b, the hydrogel was assembled with zinc and copper sheets to form a simple self-powered device, and electrons flowed from the negative electrode to the positive electrode through the wire, thereby forming a potential difference of about 0.838 V, which converts chemical energy into electrical energy well. This self-powered sensor device freed itself from the limitation of external power sources and expanded the potential of hydrogels for flexible and wearable sensors.
As shown in Fig. 8a, the electrical conductivity of PAM/PVA/CNC/LiCl hydrogels with different CNC contents was tested. The experimental results showed that when the CNC content increased, the electrical conductivity of the hydrogel would first increase. Then began to decline, this was because the strong hydrogen bonds formed by CNC in the PAM/PVA/CNC/LiCl hydrogel network would significantly change the conduction path of the hydrogel, so that its conductivity would continue to rise until it reaches a peak, when the CNC excessive content would lead to the aggregation of CNC in the hydrogel or the formation of more crystallites, resulting in the uneven distribution of the three-dimensional network structure, resulting in a decrease in the conductivity of the hydrogel. The resistance value of PAM/PVA/CNC/LiCl hydrogel with different Li+ ion concentrations was recorded with the digital bridge, and the change in its conductivity was also calculated. It can be seen from Fig. 8b that when the Li+ concentration gradually increased, ion channels were opened, and more and more conductive ions could move, which was manifested as an increase in conductivity. When the Li+ concentration increased to a certain level, due to the limited cross-sectional area of the channel, it was difficult for the ion channel to ensure that all ions pass through, and the collision of conductive ions reduced the conductivity, which was manifested as a decrease in conductivity. In addition, a large amount of Li+ was immobilized through ionic interactions, leading to a decrease in the cross-sectional area of ion channels and a decrease in conductivity[27]. Hydrogel samples with different ions were prepared, and their conductivity tests were compared. The results showed (Fig. 8c) that the conductivity of PAM/PVA/CNC/LiCl hydrogel containing Li+ was better than that of hydrogels containing Ca2+ and Al3+. Since the ion mobility of Li+ was better than that of Ca2+ and Al3+[28], it had more significant transport performance, which greatly enhanced the conductivity, demonstrating the excellent electrical conductivity of PAM/PVA/CNC/LiCl hydrogels.
3.7. Sensing Performance
As shown in Fig. 9a, the PAM/PVA/CNC/LiCl hydrogel was subjected to a stretch release cycle from 0% strain to 200% strain, and the change of its relative resistance (ΔR/R0) was quantitatively studied, which could be seen that as the strain increases, the relative resistance of the PAM/PVA/CNC/LiCl hydrogel also increases, which indicates that the PAM/PVA/CNC/LiCl hydrogel strain sensor has a positive strain effect. The strain sensitivity factor (GF) was an important index to evaluate sensor performance. The GF value corresponding to the 0%-300% strain of the PAM/PVA/CNC/LiCl hydrogel was shown in Fig. 9b. The graph of the relative resistance change was divided into three parts. It could be seen that the GF value of the PAM/PVA/CNC/LiCl hydrogel is 1.44 when the strain is 0–50%, the GF value of the hydrogel is 2.38 when the strain is 50–150%, and when the strain is 150–300%, the GF value of the hydrogel reaches 4.31. This showed that the prepared hydrogel had good sensitivity to large strains and could effectively sense the generation of large strains. In addition, the PAM/PVA/CNC/LiCl hydrogel sensor produced stable output signals over 10 cycles at 200% strain (Fig. 9c), which demonstrated the good stability, reproducibility, and excellent sensing properties of the prepared hydrogels.
The prepared PAM/PVA/CNC/LiCl hydrogel could make sensitive feedback to the pressure. Based on the assembled hydrogel pressure sensor, the relative resistance change of the hydrogel under the pressure of 200g weight was − 22%, and it still tended to be stable after cycling. It could be seen from Fig. 10 that the hydrogel could give feedback at the moment when the weight was put on it, and it tended to be stable within 1s. When the weight was picked up, the relative resistance returned to the initial position due to the good shape recovery, which illustrated the excellent pressure response characteristics of the hydrogel, and also showed that the prepared PAM/PVA/CNC/LiCl hydrogel had the potential to act as a pressure sensor.
To test the potential of PAM/PVA/CNC/LiCl hydrogel-based wearable strain sensors, the hydrogel was taped to the human index finger and made various bending angles. As shown in Fig. 11a, when the index finger was bent to different angles, the relative resistance of the hydrogel changed differently, and when the finger returned to the original angle, the relative resistance of the hydrogel was the same as before. When the finger was flexed cyclically in the range of 0–90°, the relative resistance of the hydrogel exhibited a steady periodic change (Fig. 11b). The results showed that the prepared PAM/PVA/CNC/LiCl hydrogel had good sensitivity and electrical stability, and the relative resistance at different bending angles could be observed in real-time. A wearable strain sensor based on PAM/PVA/CNC/LiCl hydrogel could clearly distinguish the difference in the bending angle of the index finger, which had the potential to fabricate wearable electronic devices.
3.8. Anti-freezing Performance
The anti-freezing performance of hydrogel was very important for flexible sensors based on the hydrogel. For this reason, the PAM/PVA/CNC/LiCl hydrogel samples were placed in a -20°C refrigerator to test the anti-freezing performance. As shown in Fig. 12, the PAM/PVA/CNC0.5/LiCl2.4 hydrogel still had good conductivity after 7 days, and it could be seen that the change curve of its conductivity was not so drastic. However, after 7 days of PAM/PVA/CNC0.5/LiCl2.4/H hydrogel, the conductivity was extremely low and the change curve was sharp. When the frozen hydrogel samples were connected to small light bulbs, it could be observed that the light bulbs connected with PAM/PVA/CNC0.5/LiCl2.4 hydrogels were brighter. This showed that the addition of DMSO could improve the anti-freezing performance of the hydrogel, because the sulfinyl group in DMSO could form a strong hydrogen bond force with water molecules, thereby inhibiting the formation of ice crystals, making PAM/PVA/CNC/LiCl hydrogel was not easy to freeze and lose conductivity.
3.9. Anti-drying Performance
Since ion-conducting hydrogels generally had a high water content, in daily use, the water in the hydrogel would inevitably evaporate, resulting in a decrease in the water content of the hydrogel and affecting the biocompatibility of the hydrogel as well as the performance of various aspects. To improve the anti-drying performance of the hydrogel, solvents, such as glycerin and DMSO, were usually added when preparing the hydrogel. As shown in Fig. 13, after placing the PAM/PVA/CNC0.5/LiCl2.4 hydrogel and the PAM/PVA/CNC0.5/LiCl2.4/H hydrogel in a 60°C oven, the PAM/PVA/CNC0.5/LiCl2.4 hydrogel sample still maintained the basic shape, while the PAM/PVA/CNC0.5/LiCl2.4/H hydrogel became hard, had no flexibility and turned yellow, according to the hydrogel weight change curve, which could be found that the weight of the PAM/PVA/CNC0.5/LiCl2.4 hydrogel sample changed by 22%, while the weight of the PAM/PVA/CNC0.5/LiCl2.4/H hydrogel sample changed by 50%. It could be seen that after adding the DMSO solvent, the weight change of the hydrogel was relatively gentle, and the anti-drying performance is better. This was because DMSO, as an organic solvent, acted as a protective agent in the ion-conducting hydrogel, interacting with the water molecules in the hydrogel, thereby reducing the rate of water volatilization.
3.10. Swelling Performance
Since hydrogels would absorb a large amount of water and swell, the degree of swelling had a great impact on physical properties and applications. To study the swelling behavior of PAM/PVA/CNC/LiCl hydrogels, distilled water was used as the swelling medium to conduct swelling kinetics measurements. The swelling kinetics of PAM/PVA/CNC/LiCl hydrogel, as shown in Fig. 14, the swelling capacity of PAM/PVA/CNC/LiCl hydrogels increased greatly in the initial period after immersion in distilled water, and then the swelling capacity increased slowly until reaching the equilibrium swelling capacity. Since the hydrogel formed a three-dimensional cross-linked polymeric network, this significantly improved the hydrogel swelling capacity. The results showed that the PAM/PVA/CNC/LiCl hydrogel had a higher swelling ratio, which greatly broadened its application in other fields and prolonged the use time of the hydrogel.