Multi-material Integrated Printing of Reprogrammable Magnetically Actuated Soft Structure

The magnetically actuated soft structure has the unique advantages of remote actuation, free deformation, programmability, and high energy efficiency. The existing magnetically actuated soft structure has a single function, limited application scenarios, and poor flexibility. At the same time, the magnetically actuated performance is limited by the materials used during structure design and model preparation. In this paper, we propose an integrated process for manufacturing multi-material reconfigurable magnetically actuated soft structures that can program and reconfigure the model actuation mode by reversing the magnetic pole direction through the synergistic effect of an external heat source and magnetic field and can achieve hundreds of times faster and more accurate reconfiguration. By regulating, arranging, and designing the reprogramming units, the integrated printed model has a high magnetic particle mass ratio of 80%, the highest reported. This process expands the application scenario of reconfigurable magnetically actuated soft structures, which have a wide range of applications in soft robotics, aerospace, medical devices, flexible electronics, and other scenarios.