Magnetic Actuator with Programmable Force Distribution and Self‐Sensing for Bidirectional Deformation Control

Abstract The realization of bidirectional deformation function is an important symbol of most natural creatures and intelligent flexible robots. Currently, most soft actuators are developed on the basis of transition between two different states, which means difficulties of control during the whole movement. In this work, variable distribution positions of hard magnetorheological elastomers (H‐MREs) in the matrix are used to achieve different magnetic force distributions. The programmable force distribution promotes different deformations of the magnetic actuators, which enlarges the deformation range by 51.69% under the same magnetic field. Pre‐magnetizing the H‐MREs makes them have a certain residual magnetization. Due to the residual magnetization property of H‐MREs, the magnetized actuator can not only be attracted but also be repelled by the applied magnetic field. This bidirectional deformation capability gives the actuators a wider deformation range and greater clamping force, such as the smart gripper for pinching up object. In addition, the actuators are integrated with a flexible sensing layer with high resolution and strong stability for self‐sensing. This kind of force distribution programmable technology and self‐sensing performance have the potential to broaden the application of actuators in medical equipment requiring high control accuracy.