Integrated 3D printing of reconfigurable soft machines with magnetically actuated crease-assisted pixelated structures

Abstract

Reconfigurable magnetic soft machines have a wide range of applications in soft robotics, aerospace, medical devices and flexible electronics. However, the high-precision reconfiguration of magnetically actuated soft machines is hindered by the absence of rational structural design and integrated manufacturing techniques. Here, we report an innovative design and manufacturing approach to realize magnetically actuated high-precision reconfigurability. We present a crease-assisted pixelated design using a mixture of magnetic particles and phase-change medium as the pixel points, with an elastomer as the crease to connect the pixel points, simulating origami. The design of elastomer creases improves pixel stiffness without loss of reconfigurable accuracy, thereby significantly improves the magnetic particle concentration in the pixel. An effective multi-material 3D printing technique is used to achieve the integrated printing of the designed structure. The resulting magnetically actuated soft machines exhibit remarkable capabilities, achieving small curvature bending and precise reconfiguration with weaker actuating magnetic fields (100mT). The superior performance of this design has been confirmed through demonstrations of crawling and rolling machines, magnetically controlled switches, and logic circuits. The work enhances the reconfiguration accuracy of magnetically actuated soft machines, increasing their potential for soft robotics and flexible electronics applications.