Micro- and nanotextured surfaces with reconfigurable textures can enable advancements in the control of wetting and heat transfer, directed assembly of complex materials, and reconfigurable optics, among many applications. However, reliable and programmable directional shape in large scale is significant for prescribed applications. Herein, we demonstrate the self-directed fabrication and actuation of large-area elastomer micropillar arrays, using magnetic fields to both program a shape-directed actuation response and rapidly and reversibly actuate the arrays. Specifically, alignment of magnetic microparticles during casting of micropost arrays with hemicylindrical shapes imparts a deterministic anisotropy that can be exploited to achieve the prescribed, large-deformation bending or twisting of the pillars. The actuation coincides with the finite element method, and we demonstrate reversible, noncontact magnetic actuation of arrays of tens of thousands of pillars over hundreds of cycles, with the bending and twisting angles of up to 72 and 61°, respectively. Moreover, we demonstrate the use of the surfaces to control anisotropic liquid spreading and show that the capillary self-assembly of actuated micropost arrays enables highly complex architectures to be fabricated. The present technique could be scaled to indefinite areas using cost-effective materials and casting techniques, and the principle of shape-directed pillar actuation can be applied to other active material systems.

Magnetically active shape‐reconfigurable microarrays undergo programmed actuation according to the arrangement of magnetic dipoles within the structures, achieving complex twisting and bending deformations. Cylindrical micropillars have been widely used to date, whose circular cross‐sections lead to identical actuation regardless of the actuating direction. In this study, micropillars with triangular or rectangular cross‐sections are designed and fabricated to introduce preferential actuation directions and explore the limits of their actuation. Using such structures, controlled liquid wetting is demonstrated on micropillar surfaces. Liquid droplets pinned on magnetic micropillar arrays undergo directional spreading when the pillars are actuated as depinning of the droplets is enabled only in certain directions. The enhanced deformation due to direction dependent magneto‐mechanical actuation suggests that micropillar arrays can be fundamentally tailored to possess application specific responses and opens up opportunities to exploit more complex designs such as micropillars with polygonal cross sections. Such tunable wetting of liquids on microarray surfaces has potential to improve printing technologies via contactless reconfiguration of stamp geometry by magnetic field manipulation.

Magnetic soft robots facilitate the battery-free remote control of soft robots. However, parallel control of multiple magnetic robots is challenging due to interference between robots and difficult maneuvers. Here we present the orbital maneuvering of manifold magnetic soft robots. Magneto-induced motion (magnetomotility) that includes the hierarchy of rotation and resultant revolution allows for the independent control of the robot’s velocity and orbital radius. The soft robot achieves a speed of 60 body length (BL) s−1, which is approximately 50, 000 times faster with 1/7 the weight of the current lightest legged soft robot. The hierarchical magnetomotility is suitable for versatile locomotion such as stairs and uphill climbing, underwater and above water swimming. Owing to their swimming functionality, a swarm of such soft robots is capable of transportation of cargo. On-demand orbital maneuvering of magnetic soft robots provides a new methodology for concurrent actuation of multiple robots exhibiting collective behaviors.

Magnetically active helical soft robots were synthesized to achieve efficient tether-less manipulation of the magnetomotility in order to avoid the on-board weight penalty and the distance restrictions originating from connection lines.

In recent years, jointless soft robots have demonstrated various curvilinear motions unlike conventional robotic systems requiring complex mechanical joints and electrical design principles. The materials employed to construct soft robots are mainly programmable anisotropic polymeric materials to achieve contactless manipulation of miniaturized and lightweight soft robots through their anisotropic strain responsivity to external stimuli. Although reviews on soft actuators are extensive, those on untethered soft robots are scant. In this study, we focus on the recent progress in the manipulation of untethered soft robots upon receiving external stimuli such as magnetic fields, light, humidity, and organic solvents. For each external stimulus, we provide an overview of the working principles along with the characteristics of programmable anisotropic materials and polymeric composites used in soft robotic systems. In addition, potential applications for untethered soft robots are discussed based on the physicochemical properties of programmable anisotropic materials for the given external stimuli.