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Top: Photographs of the electromagnetic and thermal systems used to control the soft grippers. The system consists of 6 orthogonally-configured coils, and a Peltier element. The electromagnetic coils have a cutoff frequency of 70 Hz and a maximum current rating of 1 A. The system generates a maximum magnetic field and magnetic field gradient of 15 mT and 60 mT/m, respectively. Bottom: Snapshots showing the gripper grasping a micro-sized bead. The scale bar is 0.8 mm.
