Magnetic Soft Actuators: Sensor-Actuator Fusion via Integrated Fabrication for Precise Control

Abstract

Magnetic soft actuators (MSAs) represent a paradigm shift in robotics, offering wireless control, biocompatibility, and adaptability through magnetic field-driven deformation. However, integrating sensing and actuation in MSAs presents significant challenges due to their miniaturized scale, material heterogeneity, and complex manufacturing requirements. Traditional robotic systems benefit from modular design and standardized integration of discrete components, but MSAs require a co-design approach where sensing and actuation functionalities are embedded within a single compliant structure. This review systematically examines recent advances in MSAs across four key areas: actuation, sensing, control, and manufacturing technologies. The critical role of material-structure co-design and integrated fabrication is emphasized in bridging the gap between laboratory innovation and real-world deployment, highlighting pathways for advancing the practical implementation of magnetic soft actuators.