Addressable and perceptible dynamic reprogram of ferromagnetic soft machines

Yuxuan Sun, Boxi Sun, Xiang Cui, Weihua Li, Yue Zhang, Li He, Shutong Nong, Zhengqing Zhu, Jiyang Wu, Dongxiao Li, Xingxiang Li, Shiwu Zhang (), Xiangyang Li () and Mujun Li ()
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Yuxuan Sun: University of Science and Technology of China
Boxi Sun: University of Science and Technology of China
Xiang Cui: University of Science and Technology of China
Weihua Li: University of Wollongong
Yue Zhang: University of Science and Technology of China
Li He: University of Science and Technology of China
Shutong Nong: University of Science and Technology of China
Zhengqing Zhu: University of Science and Technology of China
Jiyang Wu: University of Science and Technology of China
Dongxiao Li: University of Science and Technology of China
Xingxiang Li: University of Science and Technology of China
Shiwu Zhang: University of Science and Technology of China
Xiangyang Li: University of Science and Technology of China
Mujun Li: University of Science and Technology of China

Nature Communications, 2025, vol. 16, issue 1, 1-15

Abstract: Abstract Soft machines actuated by external magnetic fields have gained significant attention for their potential to interact with living organisms and complex environments. However, their adaptability and functionality are often limited by rigid magnetization during operation. In this work, we introduce dynamically reprogrammable magnetic soft machines with in situ reconfigurable magnetization profiles during operations, achieved through the synergy of various magnetic fields. A flexible resonant circuit is integrated into the machine body, enabling addressable and perceptible heating of specific regions via high-frequency fields of varying frequencies. The machine body is composed of microbeads made from a low-melting-point alloy and NdFeB microparticles. When heated, the alloy liquefies, allowing the rotation of NdFeB microparticles under a 40 mT pulsed programming field. Upon cooling, the new configuration is locked in place. This reprogramming process is equally effective for single or multiple machines, enabling versatile multi-pattern deformation of individual machines and cooperation of multiple ones. Furthermore, by incorporating addressable thermal actuation, we demonstrate in situ assembly of multiple robots. This work may enable a broad spectrum of magnetic soft machines with enhanced functionalities.

Date: 2025
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DOI: 10.1038/s41467-025-57454-w

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