The soft millirobot is a promising candidate for emerging applications in various in‐vivo/vitro biomedical settings. Despite recent success in its design and actuation, the absence of sensing ability makes it still far from being a reality. Here, a radio frequency identification (RFID) based battery‐less soft millirobot that can move, sense, and communicate remotely by coupling the magnetic and piezoelectric effects is reported. This design integrates the robot actuation and power generation units within a thin multilayer film (<0.5 mm), i.e., a lower magnetic composite limb decorated with multiple feet imparts locomotion and a flexible piezoceramic composite film recovers energy simultaneously. Under a trigger of external magnetic guidance, the millirobot can achieve remote locomotion, environment monitoring, and wireless communication with no requirement of any on‐board battery or external wired power supply. Furthermore, this robot demonstrates the sensing capability in measuring environment temperature and contact interface by two different sensing models, i.e., carried‐on and build‐in sensing mode, respectively. This research represents a remarkable advance in the emerging area of untethered soft robotics, benefiting a broad spectrum of promising applications, such as in‐body monitoring, diagnosis, and drug delivery.

中文翻译：

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无电池软微型机器人，可以通过磁效应和压电效应的耦合来远程移动、感知和通信。

软毫机器人是各种体内/体外生物医学环境中新兴应用的有前途的候选者。尽管最近在设计和驱动方面取得了成功，但由于缺乏传感能力，它还远未成为现实。本文报道了一种基于射频识别（RFID）的无电池软毫机器人，它可以通过耦合磁效应和压电效应来远程移动、感知和通信。该设计将机器人驱动和发电单元集成在多层薄膜（<0.5毫米）内，即装饰有多个脚的下部磁性复合肢体赋予运动能力，而柔性压电陶瓷复合薄膜同时恢复能量。在外部磁引导的触发下，毫机器人可以实现远程运动、环境监测和无线通信，无需任何板载电池或外部有线电源。此外，该机器人通过两种不同的传感模式（分别为随身传感模式和内置传感模式）展示了测量环境温度和接触界面的传感能力。这项研究代表了不受束缚的软机器人这一新兴领域的显着进步，有利于广泛的有前途的应用，例如体内监测、诊断和药物输送。