Soft Magnetostrictive Actuator String with Cellulose Nanofiber Skin

The formation of cellulose nanofibrous skin with a colloidal suspension is challenging due to the diffusion of colloidal particles and bacteria to the bulk and a limited supply of oxygen for bacteria in the liquid culture environment. A composite-actuating string was fabricated with magnetic nanoparticles (MNPs) and Gluconacetobacter xylinus in a solid matrix of hydrophobic microparticles. G. xylinus synthesizes a dense skin layer of cellulose nanofibers enclosing MNPs in the solid matrix to form an actuator string responsive to an external magnetic field. The nanofibrous actuator string is transformable to fit the diverse shapes of tubular structures in cross section due to its softness and plastic deformability, which reduce friction and stress against the walls of organ tissues. The nanofibrous skin string is bendable at an acute angle by magnetic actuation and is applicable as an endoscopic guidewire to reach a target deep inside a model kidney structure.