3D Printing of Multilayer Magnetic Miniature Soft Robots with Programmable Magnetization

Magnetically driven miniature soft robots exhibit fast and dexterous responses to an applied external magnetic field. With remote manipulation, controlled navigation of can be realized within hard-to-access spaces for potential use in the human body. Existing using digital light processing are fabricated from planar sheets, thus have limited shape transformations locomotive behaviors. Herein, a multilayer 3D printing method is reported patterning nanoparticles ultraviolet (UV)-curable polymer matrix. Various structures 10 mm overall size with volumes at different parts, which outperform 2D folded shapes terms robustness kinematic flexibility. By programming heterogeneous magnetization discrete robot segments, torque-induced changes including gripping, rolling, swimming, walking induced by global actuation Stacked design features minimum dimension 200 μm encoded resolution 350 process. Meanwhile, enhanced deformation flexibility formation orientation-anchoring mechanisms created integrating multiple materials distinct mechanical properties, respectively, enables creation versatile multi-material actuators.