Tunable, soft, and multifunctional robots are contributing to developments in medical and rehabilitative robotics, human-machine interaction, and intelligent home technology. A key aspect of soft robot fabrication is the ability to use flexible and efficient schemes to enable the seamless and simultaneous integration of configurable structures. Here, we report a strategy for programming design features and functions in elastomeric surfaces. We selectively modified these elastomeric surfaces via laser scanning and then penetrated them with an active particle–infused solvent to enable controllable deformation, folding, and functionality integration. The functionality of the elastomers can be erased by a solvent retreatment and reprocessed by repeating the active particle infusion process. We established a platform technique for fabricating programmable and reprocessable elastomeric sheets by varying detailed morphology patterns and active particles. We used this technique to produce functional soft ferromagnetic origami robots with seamlessly integrated structures and various active functions, such as robots that mimic flowers with petals bent at different angles and with different curvatures, low-friction swimming robots, multimode locomotion carriers with gradient-stiffness claws for protecting and delivering objects, and frog-like robots with adaptive switchable coloration that responds to external thermal and optical stimuli.

可调谐、柔软和多功能的机器人正在为医疗和康复机器人、人机交互和智能家居技术的发展做出贡献。软机器人制造的一个关键方面是能够使用灵活高效的方案来实现可配置结构的无缝和同步集成。在这里，我们报告了一种在弹性表面中编程设计特征和功能的策略。我们通过激光扫描选择性地修饰这些弹性体表面，然后用注入活性粒子的溶剂渗透它们，以实现可控的变形、折叠和功能集成。弹性体的功能可以通过溶剂再处理消除，并通过重复活性颗粒注入过程进行再加工。我们建立了一种平台技术，用于通过改变详细的形态图案和活性颗粒来制造可编程和可再加工的弹性片。我们使用这种技术生产了具有无缝集成结构和各种主动功能的功能性软铁磁折纸机器人，例如模仿花瓣以不同角度和不同曲率弯曲的机器人、低摩擦游泳机器人、具有梯度刚度的多模运动载体用于保护和运送物体的爪子，以及具有可响应外部热和光刺激的自适应可切换着色的青蛙状机器人。