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. 2022 Jun 24;8(25):eabo6021. doi: 10.1126/sciadv.abo6021

Fig. 4. Multifunctional and multimaterial magnetic soft actuators prepared by AMF-assisted welding.

Fig. 4.

(A) Integrated M-PULCE-2 actuator with bending/unbending motion, twisting/flattening motion, and coiling/uncoiling motion and its reprogramming. AMF condition: f = 320 kHz, H = 219.27 Gs. (B) Multimaterial satellite-like soft actuator. (i) Before assembly (two “wings” and the hinge are made of common PU CANs and M-PULCE-2, respectively), (ii) the archetype of satellite, and (iii) assembled soft actuators with two “wings” closed when AMF is ON (inset: images). AMF condition: f = 320 kHz, H = 219.27 Gs. (C) Multimaterial octopus-like soft actuator. (i) Before assembly (the cylindrical head is composed of PU foam, the solder is M-PULCE-3, and the legs are made of M-PULCE-1), (ii) assembled soft actuators with eight legs straightening when AMF is ON, (iii) images of the assembled soft actuators, (iv) the M-PULCE actuator without the welded foam sinking in the bottom, and (v) assembled multimaterial soft actuators floating on the water. AMF condition: f = 320 kHz, H = 283.15 Gs. Scale bars, 10 mm.