Shape-programmable magnetoresponsive soft actuators (SMSAs) are highly desirable for diverse applications in soft robotics and minimally invasive medicine. Current methods face challenges in achieving programmable magnetoresponsive three-dimensional (3D) shapes with non-uniform and continuously adjustable curvatures, which are crucial for the highly effective locomotion of SMSAs. Here, we propose an approach that integrates bioinspired pore design with mechanically guided magnetization, enabling programmable magnetoresponsive complex shapes with non-uniform and continuously adjustable curvatures. Various magnetoresponsive developable and non-developable surfaces, along with biomimetic 3D curved shapes, were prepared. The prepared SMSAs exhibit actuation rates of up to 20 s−1. Furthermore, an inchworm-inspired soft crawling robot capable of steering, navigation, obstacle crossing, and cargo transportation was developed, achieving a locomotion speed of up to 1.2 body lengths per second. This work breaks through the design possibilities for SMSAs, enhances the actuation rates of soft actuators, and advances the application of SMSAs in soft crawling robots.

中文翻译：

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具有可编程 3D 曲面形状的仿生多孔磁响应软致动器


形状可编程磁响应软致动器 （SMSA） 非常适合软机器人和微创医学中的各种应用。当前的方法在实现具有非均匀和连续可调曲率的可编程磁响应三维 （3D） 形状方面面临挑战，这对于 SMSA 的高效运动至关重要。在这里，我们提出了一种将仿生孔设计与机械引导磁化相结合的方法，实现了具有不均匀和连续可调曲率的可编程磁响应复杂形状。制备了各种磁响应可显影和不可显影表面，以及仿生 3D 弯曲形状。制备的 SMSA 表现出高达 20 s-1 的驱动速率。此外，还开发了一种受尺蠖启发的软爬行机器人，能够转向、导航、越障和货物运输，实现高达每秒 1.2 个体长的运动速度。这项工作突破了 SMSA 的设计可能性，提高了软致动器的驱动率，并推进了 SMSA 在软爬行机器人中的应用。