Described herein are hydrogels attached to a base with the strength and fatigue comparable to that of cartilage on bone and methods of forming them. The methods and apparatuses described herein may achieve an attachment strength between a hydrogel and a substrate equivalent to the osteochondral junction. In some examples the hydrogel may be a triple-network hydrogel (such as BC-PVA-PAMPS) that is attached to a porous substrate (e.g., a titanium base) with the shear strength and fatigue strength equivalent to that of the osteochondral junction.