The research focused on substances which, through diverse ranges of liquid states, respond to external inputs and change state as a reaction. This involved studies on highly complex materials with an essential complex rheological behaviour, a complex geometry in their micro-structures and multiple phases. In this context, the research was centred on viscosity in fluids which is the measure of its resistance to gradual deformation by shear stress due to the friction between neighbouring particles moving at different velocities. In order to study the complex micro-structure of these liquids, the simulations are based on the use of springs logics. Individually, the parameters to control the springs are very simple, but acting together they can develop emergent formations responding to the inputs of multiple structural data. Concerning the fabrication approach, the research has focused on material extrusion, not only deposition, as it actively engages with the concepts of phase changing properties in a material. In fact, it allows to explore anti-gravity morphologies dispensing the use of any type of framework. In order to develop a resilient and sensitive prototyping technique, an extrusion tool has been developed to be attached to an ABB robotic arm. The use of the robot provides a wide range of different angles for injection, large scale of prototyping and high precision.