New materials are advancing the field of soft robotics. Composite films of magnetic iron microparticles dispersed in a shape memory polymer matrix are demonstrated for reconfigurable, remotely actuated soft robots. The composite films simultaneously respond to magnetic fields and light. Temporary shapes obtained through combined magnetic actuation and photothermal heating can be locked by switching off the light and magnetic field. Subsequent illumination in the absence of the magnetic field drives recovery of the permanent shape. In cantilevers and flowers, multiple cycles of locking and unlocking are demonstrated. Scrolls show that the permanent shape of the film can be programmed, and they can be frozen in intermediate configurations. Bistable snappers can be magnetically and optically actuated, as well as biased, by controlling the permanent shape. Grabbers can pick up and release objects repeatedly. Simulations of combined photothermal heating and magnetic actuation are useful for guiding the design of new devices.

Magnetic field-directed self-assembly of magnetic particles in chains is useful for developing directionally responsive materials for applications in soft robotics. Using materials with greater complexity allows advanced functions, while still using simple device architectures. Elastomer films containing chained magnetic microparticles were prepared through solvent casting and formed into magnetically actuated lifters, accordions, valves, and pumps. Chaining both enhances actuation and imparts a directional response. Cantilevers used as lifters were able to lift up to 50 times the mass of the polymer film. We introduce the "specific torque", the torque per field per mass of magnetic particles, as a figure of merit for assessing and comparing the performance of lifters and related devices. Devices in this work generated specific torques of 68 Nm/kgT, which is significantly higher than in previously reported actuators. Applying magnetic fields to folded accordion structures caused extension and compression, depending on the accordion's orientation. In peristaltic pumps comprised of composite tubes containing embedded chains, magnetic fields caused a section of the tube to pinch closed where the field was applied. These results will facilitate both the further development of soft robots based on chained magnetic particles and efforts to engineer materials with higher specific torque.

We report selective and directional actuation of elastomer films utilizing magnetic anisotropy introduced by chains of Fe3O4 magnetic nanoparticles (MNPs). Under uniform magnetic fields or field gradients, dipolar interactions between the MNPs favor magnetization along the chain direction and cause selective lifting. This mechanism is described using a simple model.

Gold nanorods (GNRs) exhibit a tunable longitudinal surface plasmon resonance (LSPR) that depends on the GNR aspect ratio (AR). Independently controlling the AR and size of GNRs remains challenging but is important because the scattering intensity strongly depends on the GNR size. Here, we report a secondary (seeded) growth procedure, wherein continuous addition of ascorbic acid (AA) to a stirring solution of GNRs, stabilized by cetyltrimethylammonium bromide (CTAB) and synthesized by a common GNR growth procedure, deposits the remaining (~70%) of the Au precursor onto the GNRs. The growth phase of GNR synthesis is often performed without stirring, since stirring has been believed to reduce the yield of rod-shaped nanoparticles, but we report that stirring coupled with continuous addition of AA during secondary growth allows improved control over the AR and size of GNRs. After a common primary GNR growth procedure, the LSPR of GNRs is ~820 nm, which can be tuned between ~700–880 nm during secondary growth by adjusting the rate of AA addition or adding benzyldimethylhexadecylammonium chloride hydrate (BDAC). This approach for secondary growth can also be used with primary GNRs of different ARs to achieve different LSPRs and can likely be extended to nanoparticles of different shapes and other metals.

Photothermal triggering of shape-memory polymers is an appealing noncontact mode of actuation for responsive materials and soft robotics. Wavelength-selective photothermal triggering of shape recovery is reported in thermoplastic polyurethane shape-memory polymers with embedded gold (Au) nanospheres and nanorods. Lightemitting diodes with wavelengths of 530 and 860 nm matched to the surface plasmon resonances drive selective shape recovery. Wavelength-selective shape recovery enables sequential actuation, as demonstrated in a wavelength-controlled stage with optically controlled height and tilt angle using legs of shape-memory-polymer films with embedded Au nanospheres and nanorods.