This work reported a high performance flexible magnetically controllable actuator based on magnetoactive elastomer (MAE) and poly (vinylidene fluoride) (PVDF) composite film. The magnetic-mechanic-electric coupling properties of the actuator were systematically investigated by cyclical wrinkle, magnetic bending, and stretching test. The induced charge under a magnetic bending can reach as large as 158 pC even at small magnetic field of 100 mT with the bending angle up to almost 90° within 0.6 s. Moreover, a new model was proposed to theoretically reveal the intrinsic correspondence. The model matches well with the experimental results. Based on this kind of actuator, a magnetically controllable tentacle is developed, which could grasp, transport, and release object by switching the supplied current. Due to the real-time deformation feedback characteristics, this kind of actuators can find wide applications in actively controllable engineering, artificial robotics, and biomedicine.

这项工作报告了一种基于磁活性弹性体（MAE）和聚偏二氟乙烯（PVDF）复合膜的高性能柔性磁控执行器。通过周期性起皱，磁弯曲和拉伸试验系统地研究了执行器的磁－电－电耦合特性。即使在100 mT的小磁场下，磁弯曲下的感应电荷也可以高达158 pC，且弯曲角度在0.6 s内几乎达到90°。此外，提出了一个新的模型来从理论上揭示内在对应关系。该模型与实验结果吻合良好。基于这种致动器，开发了一种可磁控的触手，该触手可通过切换所提供的电流来抓握，运输和释放物体。