Figure 3.

(a) Schematic representation of the programming method for the magnetic structure and the resultant sinusoidal magnetization profile of the designed millimeter-sized swimmer. (b) Procedure of magnetization along a preset profile in the shape guider and control of a triangular silicone swimmer by an external magnetic field. (c) The process of formation of inchworm millimeter-sized magnetic robots using a 3D printer with fused deposition modeling and molding in silicone. (d) Schematic representation of the manufacturing process of a magnetic annelid-worm-like microswimmer and its propulsion in a magnetic field [78]. (e) Schematic representation of the beam bending under the action of an external magnetic field and the movement of the millimeter-sized swimmer in water, simulating the movement of a jellyfish [108].