Multi-layer screen-printing of magnetic soft robots with integrated materials and functions

Abstract

Soft robots that respond to externally applied magnetic fields are emerging in various applications with integrated functional materials and patterned magnetization profiles. Current fabrication techniques, such as casting and 3D printing, typically involve prolonged processing cycles, limited throughput, restricted material choices, and substantial challenges in achieving precise, part-specific magnetic programming. Here, we establish a multi-layer screen-printing strategy for directly fabricating the main body of magnetic soft robots with patterned magnetization profiles. Leveraging the inherent advantages of screen-printing, materials such as paper and fabric and rigid substrates including glass and wood can be actuated in magnetic fields to exhibit programmed deformation. By incorporating multiple types of ink and substrate materials, magnetic soft grippers for vascular surgeries, wireless robots with embedded circuitry, and bio-inspired butterfly-like robots are demonstrated. This work improves the functionality and scalability of fabricating magnetic soft robots with expanded potential in deployment across biomedical engineering, robot research, and artistic disciplines.