Self-actuating chemomechanical devices for delivery and extended release of therapeutic agents in the gastrointestinal tract

A system for delivering one or more therapeutic agents to a tissue site in a subject, the system comprising:

• (a) an untethered mechanical gripping module having a dimension ranging from about 10 microns to about 1 mm and comprising a plurality of fingers comprising a plurality of sharp or tapered tips, wherein the fingers comprise a metal, a polymer having a modulus of greater than about 1 mPa, or combinations thereof, wherein the mechanical gripping module comprises at least an actuation layer and a control layer operatively connected to the actuation layer, wherein the actuation layer comprises a stress layer and a neutral layer and is configured to store torsional energy and wherein the control layer maintains the actuation layer substantially in a first configuration in a local environmental condition and intrinsically responds to a change in the local environmental condition from one or more stimuli thereby releasing the stored torsional energy of the actuation layer causing a change of the actuation layer to a second configuration, wherein the mechanical gripping module is adapted to close by curving or folding to grasp onto tissue at the tissue site when the actuation layer changes to the second configuration;
• and
• (b) a chemical module comprising a thin film, porous material, capsule, or reservoir patterned on the mechanical gripping module, wherein the thin film, porous material, capsule, or reservoir comprises the one or more therapeutic agents, wherein the chemical module is patterned onto or incorporated in the control layer.