Intelligent magnetic soft robots capable of programmable structural changes and multifunctionality modalities depend on material architectures and methods for controlling magnetization profiles. While some efforts have been made, there are still key challenges in achieving programmable magnetization profile and creating heterogeneous architectures. Here, we directly embed programmed magnetization patterns (magnetization modules) into the adhesive sticker layers to construct soft robots with programmable magnetization profiles and geometries and then integrate spatially distributed functional modules. Functional modules including temperature and ultraviolet light sensing particles, pH sensing sheets, oil sensing foams, positioning electronic component, circuit foils, and therapy patch films are integrated into soft robots. These test beds are used to explore multimodal robot locomotion and various applications related to environmental sensing and detection, circuit repairing, and gastric ulcer coating, respectively. This proposed approach to engineering modular soft material systems has the potential to expand the functionality, versatility, and adaptability of soft robots.

Magnetic levitation is a recent research hot spot; however, most of the extant configurations use two magnets with like poles facing each other. This paper proposes a novel magnetic levitation configuration that is based on a single ring magnet, and this configuration opens a wide operational space that enables object manipulation and density-based measurement. We develop a mathematical model to calculate the magnetic field around the magnet and to numerically correlate the levitation height and density of the object. Experimental results prove that this novel configuration can achieve a high accuracy (±0.0005 to ±0.0078 g/cm) in density measurement for small-sized (∼5 μL) samples. It can manipulate particles, powders, and oil droplets effectively without any direct contact, and it has high sensitivity in the separation of multiple diamagnetic objects with slight differences in densities as well. The accuracy and sensitivity of the proposed configuration are both higher than those of the extant configurations. All of these results are expected to promote deeper study and applications of the magnetic levitation configuration in the field of density-based characterizations and manipulations.

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Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.

these natural modes of locomotion with engineered systems has been challenging. [11][12][13] In this respect, burgeoning effort has been devoted to developing new simulation tools, physical models, and experimental platforms. Among these engineering tools, soft robotic systems are promising in light of their biologically relevant mechanical compliance, deformability, and modes of locomotion. [4,[14][15][16][17] Untethered soft robots, which can freely move without requiring a physical connection to external hardware and power supplies, are good candidates for studying the locomotion modes of natural invertebrates. [18][19][20][21] Thanks to recent advances in fabrication methods, [22][23][24][25][26] functional materials, [27][28][29] and actuation strategies, [7,[30][31][32][33][34][35] roboticists have proposed several soft robots that are capable of mimicking some features of natural animal locomotion. For example, previous efforts with photo-responsive hydrogels-based robots demonstrated the ability to mimic peristaltic earthworm crawling. [36] Likewise, untethered soft robots powered with shape memory alloy have been shown to exhibit a variety of locomotion modes, including undulation, jumping, crawling through narrow space or walking over rough terrain. [37,38] The application of magnetic soft robots in biomimetic study has received growing attention due to their high controllability. Hu et al. developed a millimeter-scale film robot that achieves multiple locomotion modes,The efficient motility of invertebrates helps them survive under evolutionary pressures. Reconstructing the locomotion of invertebrates and decoupling the influence of individual basic motion are crucial for understanding their underlying mechanisms, which, however, generally remain a challenge due to the complexity of locomotion gaits. Herein, a magnetic soft robot to reproduce midge larva's key natural swimming gaits is developed, and the coupling effect between body curling and rotation on motility is investigated. Through the authors' systematically decoupling studies using programmed magnetic field inputs, the soft robot (named LarvaBot) experiences various coupled gaits, including biomimetic side-to-side flexures, and unveils that the optimal rotation amplitude and the synchronization of curling and rotation greatly enhance its motility. The LarvaBot achieves fast locomotion and upstream capability at the moderate Reynolds number regime. The soft robotics-based platform provides new insight to decouple complex biological locomotion, and design programmed swimming gaits for the fast locomotion of softbodied swimmers.