Abstract Meso- or micro-scale soft robots with specific magnetization profiles have been demonstrated advanced locomotion capabilities in a plethora of unstructured environments. Despite some earlier success, technical challenges still exist for flexibly fabricating sophisticated constructed, heterogeneous and configurable soft magnetic robots at a relatively low cost. Here, by developing a new selective surface adhesion tuning, we report a transfer printing-based approach to flexibly configure magnetic domains for making 2/3-dimensional (2/3D) shaped fast-transforming untethered soft magnetic robots as well as heterogeneous integration of other desirable functional cells. This method enables physical realization of modular configurable magnetic robots integrated with specific magnetized profiles and other functional units like LEGO’s strategy. Further, we demonstrate a series of magnetic robots capable of configurable motion and responsive behaviors. This technique can serve as a new platform technique, potentially broadening the physical realization of heterogeneous integrable soft magnetic robots and empowering them with new capabilities and possibilities.

中文翻译：

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通过激光调谐选择性转移打印各向异性铁磁细胞的灵活离散磁化可配置软机器人

摘要 具有特定磁化分布的中尺度或微尺度软机器人已在大量非结构化环境中表现出先进的运动能力。尽管早期取得了一些成功，但以相对较低的成本灵活制造复杂的构造、异构和可配置的软磁机器人仍然存在技术挑战。在这里，通过开发一种新的选择性表面粘附调整，我们报告了一种基于转移印刷的方法来灵活配置磁畴，用于制造 2/3 维（2/3D）形状的快速变形无绳软磁机器人以及异质集成其他所需的功能细胞。这种方法可以物理实现模块化可配置磁性机器人，该机器人与特定的磁化轮廓和其他功能单元（如乐高的策略）相集成。此外，我们展示了一系列能够配置运动和响应行为的磁性机器人。这种技术可以作为一种新的平台技术，有可能拓宽异构可集成软磁机器人的物理实现，并赋予它们新的能力和可能性。