“…[115] One of the critical factors in controlling liquid metal-based machines is the driving force of the miniature soft devices. Various driven mechanisms have been proposed, including selfpropulsion (e.g., bubble propulsion, [116][117][118][119] self-electrophoretic propulsion, [120][121][122][123][124][125] enzyme-powered robots [126,127] ), Marangoni effect-based locomotion, [128][129][130] and external fields-driven navigation (e.g., magnetic field, [131][132][133][134] electric field, [135][136][137][138][139][140][141][142] ultrasound, [143,144] light [145][146][147] ). Magnetically driven liquid metal-based robots are usually driven by permanent magnets or electromagnets.…”