Small‐Scale Magnetic Actuators with Optimal Six Degrees‐of‐Freedom

Magnetic miniature robots (MMRs) are small-scale, untethered actuators which can be controlled by magnetic fields. As these non-invasively access highly confined and enclosed spaces; they have great potential to revolutionize numerous applications in robotics, materials science, biomedicine. While the creation of MMRs with six-degrees-of-freedom (six-DOF) represents a major advancement for this class actuators, not widely adopted due two critical limitations: i) under precise orientation control, slow sixth-DOF angular velocities (4 degree s-1 ) it is difficult apply desired forces on them; ii) such cannot perform soft-bodied functionalities. Here fabrication method that magnetize optimal produce 51-297-fold larger torque than existing introduced. A universal actuation applicable rigid soft six-DOF also proposed. Under execute full motions reliably achieve 173 degree . The display unprecedented functionalities; jellyfish-like robot swim across barriers impassable similar devices gripper 20-folds quicker its five-DOF predecessor completing complicated, small-scale assembly.