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. 2021 Nov 4;12:6398. doi: 10.1038/s41467-021-26699-6

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 4 — a Heterodimers reprogram autonomously and change functionality (colors as in Fig. 3a). b Metamachine reconfiguration. Top: schematic of the reconfiguration process. Colors indicate the functions as defined in Fig. 3a. They highlight the autonomous reprogramming of the particles as the structure reconfigures. Substructures are templated then merged to build a slender metamachine. Changes in templates lead to reconfiguration of the machine enabled by the autonomous reprogrammation of the constitutive particles. Bottom: experiment time-lapse. Red circles indicate optical traps, used for re-templating and practical pinning of the structure. Insets: optical patterns for re-templating. c Formation of chiral structures by template-and-merge. The dashed arrow indicates the direction of rotation. d Rotational dynamics of 4 different chiral structures with diagrams highlighting the role of red (n = 4) swimmers to set the chirality. e Assembly of a translational metamachine by template and merge. The diagram highlights the role of green (n = 5) swimmers at the concave angle to introduce the forward/backward asymmetry and persistent self-propulsion of the machine, presented in (f). Scale bars are 5 μm.