Abstract Imitating from natural biology, shape-programmable materials play a significant role in biomimetic applications. Magneto-active soft materials (MASMs) with programmable shapes, which can assume desired shapes under external magnetic actuation as well as potential for applications in actuators, soft robotics, medical care, and bionics. Here, we propose a shape-programming strategy that can quickly design the desired magnetic moment and actuating magnetic fields for MASMs with fast, reversible, programmable, and stable shape transformation properties. This method allows us to program the magnetic moment in the soft matrix by printing diverse magnetic structural elements. The flexible matrix and soft-magnetic 3D printing filament enable the high-performance deformation of MASMs. With these capabilities, various biomimetic structures (inchworm, manta ray, and soft gripper) can be easily fabricated with walking, swimming and snatching functions. The proposed shape-programming strategy would provide an efficient way to fully capitalize the potential of MASMs, allowing researchers to develop a wide range of soft actuators that are critical in soft robotics, medical care, and bionics applications.

中文翻译：

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用于仿生应用的 3D 打印形状可编程磁活性软物质

摘要 模仿自然生物学，形状可编程材料在仿生应用中发挥着重要作用。具有可编程形状的磁活性软材料 (MASM)，可在外部磁驱动下呈现所需形状，并具有在执行器、软机器人、医疗保健和仿生学中的应用潜力。在这里，我们提出了一种形状编程策略，可以快速设计具有快速、可逆、可编程和稳定形状转换特性的 MASM 所需的磁矩和驱动磁场。这种方法允许我们通过打印不同的磁性结构元素来对软矩阵中的磁矩进行编程。柔性矩阵和软磁 3D 打印灯丝使 MASM 的高性能变形成为可能。有了这些能力，各种仿生结构（尺蠖、蝠鲼和软爪）可以轻松制造，具有步行、游泳和抓取功能。所提出的形状编程策略将提供一种充分利用 MASM 潜力的有效方法，使研究人员能够开发广泛的软执行器，这些执行器在软机器人、医疗保健和仿生学应用中至关重要。