Untethered small-scale magnetic soft robot with programmable magnetization and integrated multifunctional modules

Abstract

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.

Multicomponent and multifunctional integrated miniature soft robots

“…4(d)). 37 Magnetic particles with different magnetization directions are transferred to the adhesive sticker to build a miniature machine with anisotropic magnetization profiles, and the adhesive property of the tape can also facilitate the integration of various functional modules, such as electronic components, oil absorption modules, and photosensitive modules.…”

“…9(a)). 37 As a proof-of-concept, temperature, UV sensing particles, and pH sensing paper are incorporated into the adhesive sticker. The repeatability of the stickers allows these sensor modules to be easily replaced after use.…”

“…Reproduced with permission. 37 Copyright 2022, American Association for the Advancement of Science. (b) Schematic illustration of a frog-like multifunctional soft robot and demonstration of its switchable coloration under different circumstances.…”

“…8(c)). 37 Magnetic units with different 3D magnetization profiles can be integrated into the soft robot by using the adhesive sticker. A therapy patch used for gastric ulcer treatment was integrated into the robot body via soluble tape.…”

“…When performing precision medical functions, microrobots need to integrate therapeutic modules such as cells or drugs to reach designated locations. 2,3,26,[33][34][35][36][37] In addition, in order to develop a small-scale robotic system with high reliability, it is necessary to load a positioning and navigation module and a somatosensory unit on the robot body to monitor the deformation of the robot. The seamless integration of robotic structures and various functional modules remains a key scientific challenge.…”