Table 1.

MEs in soft robotic applications.

Application	Magnetic material	References
sME actuator	Carbonyl iron	Kashima et al., 2012
Rheology control	Carbonyl iron	Jung et al., 2016
Micro-wire steering	NdFeB	Jeon et al., 2019
Micro-wire steering	NdFeB	Kim et al., 2019
Rotation of flagella	Cr/Ni/Au trilayer	Zhang et al., 2009a
Controllable VSDI	Carbonyl iron	Behrooz et al., 2014
Actuator positioning	Fe2O3	Pacchierotti et al., 2017
Origami folding	Bar magnet, NdFeB	Bowen et al., 2015
Origami fish steering	Bar magnet, NdFeB	Sung et al., 2017
Inchworm control	Black iron oxide	Joyee and Pan, 2019
Inchworm control	Carbonyl iron	Qi et al., 2020
Inchworm soft robot	MRF (iron)	Hua et al., 2020
sME air valve	Carbonyl iron	Böse et al., 2012
sME flexing joint	Carbonyl iron	Kitano et al., 2020
3D deformable structures	NdFeB	Kim et al., 2018
Elastic beam deformation	NdFeB	Lum et al., 2016
Millimeter unthethered swimmers	NdFeB	Zhang and Diller, 2018
Millimeter unthethered swimmers	NdFeB	Hu et al., 2018
Millimeter unthethered swimmers	NdFeB	Manamanchaiyaporn et al., 2020
Variable length linkages	Superparamagnetic Fe3O4	Kim et al., 2011
Magnetothermal shape change	Fe3O4	Tang et al., 2018
Sensing tactile skin	Nd-Pr-Fe-B	Hellebrekers et al., 2020
Sensing tactile skin	Iron nanowires	Alfadhel and Kosel, 2015
Sensing tactile skin	Iron nanowires	Alfadhel and Kosel, 2015
Wearable hME skin	NdFeB	Almansouri et al., 2019
Peristaltic pump	Carbonyl iron	Wu et al., 2019