In
conventional classification, soft robots feature mechanical
compliance as the main distinguishing factor from traditional robots
made of rigid materials. Recent advances in functional soft materials
have facilitated the emergence of a new class of soft robots capable
of tether-free actuation in response to external stimuli such as heat,
light, solvent, or electric or magnetic field. Among the various types
of stimuli-responsive materials, magnetic soft materials have shown
remarkable progress in their design and fabrication, leading to the
development of magnetic soft robots with unique advantages and potential
for many important applications. However, the field of magnetic soft
robots is still in its infancy and requires further advancements in
terms of design principles, fabrication methods, control mechanisms,
and sensing modalities. Successful future development of magnetic
soft robots would require a comprehensive understanding of the fundamental
principle of magnetic actuation, as well as the physical properties
and behavior of magnetic soft materials. In this review, we discuss
recent progress in the design and fabrication, modeling and simulation,
and actuation and control of magnetic soft materials and robots. We
then give a set of design guidelines for optimal actuation performance
of magnetic soft materials. Lastly, we summarize potential biomedical
applications of magnetic soft robots and provide our perspectives
on next-generation magnetic soft robots.