Intelligent magnetic soft robots capable of programmable structural changes and multifunctionality modalities depend on material architectures and methods for controlling magnetization profiles. While some efforts have been made, there are still key challenges in achieving programmable magnetization profile and creating heterogeneous architectures. Here, we directly embed programmed magnetization patterns (magnetization modules) into the adhesive sticker layers to construct soft robots with programmable magnetization profiles and geometries and then integrate spatially distributed functional modules. Functional modules including temperature and ultraviolet light sensing particles, pH sensing sheets, oil sensing foams, positioning electronic component, circuit foils, and therapy patch films are integrated into soft robots. These test beds are used to explore multimodal robot locomotion and various applications related to environmental sensing and detection, circuit repairing, and gastric ulcer coating, respectively. This proposed approach to engineering modular soft material systems has the potential to expand the functionality, versatility, and adaptability of soft robots.

Magnetic levitation is a recent research hot spot; however, most of the extant configurations use two magnets with like poles facing each other. This paper proposes a novel magnetic levitation configuration that is based on a single ring magnet, and this configuration opens a wide operational space that enables object manipulation and density-based measurement. We develop a mathematical model to calculate the magnetic field around the magnet and to numerically correlate the levitation height and density of the object. Experimental results prove that this novel configuration can achieve a high accuracy (±0.0005 to ±0.0078 g/cm) in density measurement for small-sized (∼5 μL) samples. It can manipulate particles, powders, and oil droplets effectively without any direct contact, and it has high sensitivity in the separation of multiple diamagnetic objects with slight differences in densities as well. The accuracy and sensitivity of the proposed configuration are both higher than those of the extant configurations. All of these results are expected to promote deeper study and applications of the magnetic levitation configuration in the field of density-based characterizations and manipulations.

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