UC Berkeley

Soft actuators with unique mechanics have gained significant interests for unique capabilities and versatile applications. However, their actuation mechanisms (usually driven by light, heat, or chemical reactions) result in long actuation times. Reported magnetically actuated soft actuators can produce rapid and precise motions, yet their complex manufacturing processes may constrain their range of applications. Here, the “bone-in-flesh” is proposed that constructs combining rigid magnetic structures encapsulated within soft polymers to create untethered magnetic soft actuators. This approach enables these soft, impact-resistant, agile actuators with a significantly simplified fabrication process. As demonstration examples, multiple soft actuators are fabricated and tested, including actuators for auxetic properties, 2D–3D transformations, and multi-stable states. As such, this work offers a promising solution to challenges associated with soft actuators to potentially expand their applications in various domains.