Reconfigurable multifunctional ferrofluid droplet robots

Ferrofluid droplet generation on a zero-thickness nozzle by a magnetic field using a wedge-shaped functional surface

Digital microfluidics for ferrofluids enables the manipulation of discrete droplets on open surfaces and has garnered significant interest as an alternative to traditional continuous-flow microfluidic systems. However, droplet generation within digital microfluidics remain underdeveloped. This study introduces a novel method for droplet generation using a wedge-shaped surface with hydrophilic-hydrophobic patterning, which functions as a two-dimensional flat nozzle. We first demonstrated the concept by investigating gravity-driven water droplet generation on a sloping surface, revealing that smaller droplets form at higher tilting angles, while droplet size remains constant with increasing flow rate. Frequency of droplet formation decreases by 60% with decreasing the tilting angle from 90° to 30°. The proposed method results in significant improvement in frequency (10 Hz) compared to nozzle-based droplet generation (1-5 Hz). We then extend this approach to ferrofluid droplets under an external magnetic field, observing five distinct steps in the formation process. Additionally, a scale analysis of both water and ferrofluid droplet generation provides a deeper theoretical understanding of the governing forces, showing a strong correlation between non-dimensional droplet diameter and the Bond number, following a -1/3 power law (R2 > 0.95). The derived empirical factor offers precise droplet diameter predictions, with an average error of 3.9%. Finally, inspired by cactus structures, we demonstrate parallelization of the flat nozzles, highlighting the potential for high-throughput droplet generation in digital microfluidic applications.

Advances in small droplets manipulation on bio-inspired slippery surfaces: chances and challenges

The manipulation of droplets with non-destructive, efficient, and high-precision features is of great importance in several fields, including microfluidics and biomedicine. The lubrication layer of bioinspired slippery surfaces demonstrates remarkable stability and self-restoration capabilities when subjected to external perturbations. Consequently, research into the manipulation of droplets on slippery surfaces has continued to make progress. This paper presents a review of the methods of droplet manipulation on bioinspired slippery surfaces. It begins by outlining the basic theory of slippery surfaces and the mechanism of droplet motion on slippery surfaces. Furthermore, droplet manipulation methods on slippery surfaces are classified into active and passive approaches based on the presence of external stimuli (e.g., heat, light, electricity, and magnetism). Finally, an outlook is provided on the current challenges facing droplet manipulation on slippery surfaces, and potential solution ideas are presented.

Dynamic BO bonds-induced viscoelasticity and surface adhesion regulation for constructing konjac glucomannan-based soft actuators with superior mobility and capturability

In all soft actuators, achieving both outstanding mobility and capturability is crucial; however, these properties are usually mutually exclusive due to the lack of an effective mechanism for controlling the viscoelasticity of the switching polymer matrix while maintaining a moderate surface adhesion. In this study, we propose a dynamic bond cross-linking strategy to successfully develop a magnetically responsive soft hydrogel (MRSH) with exceptional mobility (117.56 mm/s) and capturability. By introducing dynamic BO bonds into the KGM@Fe3O4@PSSMA NPs composite matrix, the crosslinking density and overall cohesion of MRSH can be precisely controlled, resulting in unique non-Newtonian fluid characteristics. Additionally, the dynamic BO bonds transition between associative and dissociative states with the hydroxyl groups on the KGM molecular chains, which can effectively regulate the amount of hydroxyl groups on the surface of MRSH, thereby achieving demonstrate moderate surface adhesion. As a result, the synthesized MRSH exhibits remarkable capturability on various target surfaces and maintains outstanding mobility, even in underwater environments. This work paves the way for new possibilities in the field of soft actuators and engineering by overcoming the limitations of traditional soft actuators in terms of surface adhesion and responsiveness through innovative structural design and material combinations.

Self-propulsion of liquid droplet assemblies controlled by the functionalities of their components

The self-propulsion of droplet assemblies consisting of droplets of 1-decanol and either an ethyl salicylate (ES) or a composite droplet of ES and liquid polydimethylsiloxane (PDMS) is reported. The ES-PDMS composite droplets have an ES core covered by a PDMS layer that stabilizes the assembly significantly. Their self-propulsion exhibits characteristic predator-prey behavior, with a decanol droplet closely chasing the ES or ES-PDMS composite droplet, forming a bound droplet pair. Furthermore, the stability that PDMS gives the system enables us to construct more complex assemblies, such as two, three, and four decanol droplets closely chasing an ES-PDMS droplet, whose motion patterns depend strongly on the symmetry in the structure of the assemblies. Our findings demonstrate that long-lived assemblies composed of droplets with distinct functionalities can serve as a versatile platform for developing self-organizing and adaptive droplet systems, functioning as "droplet robots".

Liquid ferrofluid synapses for spike-based neuromorphic learning

Solid-state memory devices have emerged as promising synapses for neuromorphic engineering and computing. However, features such as limited endurance, static sensitivity, and lower ON/OFF ratios, as well as the need for peculiar conditions including current compliance and forming, still make their adoption challenging. Here we report a liquid state neuromorphic device based on a ferrofluid that exhibits short-term plasticity featuring extraordinary properties: a lower dynamic range, a high endurance, a fault tolerance capability, a deterministic resistance switching behavior, and no need for prerequisites such as a forming procedure and compliance current requirements. We also show how to stabilize nanoparticles using oleic acid as the surfactant, resulting in a yield increase and a smaller resistance variance. Additionally, we propose a low-power inference system on such a liquid synapse by applying the minimal magnitude of read biases, which are only affected to about 10% by the offset, gain errors, and noise of the system. Finally, we show the liquid synapse's feature to scale down the size and the capability to classify digits using a spike-based unsupervised learning method.

Particle-armored liquid robots

It is challenging to emulate biological forms and functions with artificial machines: Fluidity and adaptability seen in cellular organisms, characterized by their ability to deform, split, merge, and engulf, are hard to recapitulate with traditional rigid robotic structures. A promising avenue to tackle this problem is harnessing the supreme deformability of liquids while providing stable yet flexible shells around them. Here, we report a highly robust liquid-particle composite, named a Particle-armored liquid roBot (PB), featuring a liquid blob coated with unusually abundant superhydrophobic particles. The enhanced deformability and structural stability of our millimetric PBs enable a range of versatile robotic functions, such as navigating through complex environments, engulfing and transporting cargoes, merging, and adapting to various environments. We use both theoretical analysis and experimental approaches to develop a framework for predicting the shape evolution, dynamics, and robotic functions of PBs. The forms and functions of our liquid robots mark an essential hallmark toward miniature biomachines that perform like cells.

Facile Synthesis of Silicone Oil-Based Ferrofluid: Toward Smart Materials and Soft Robots

Ferrofluids are stable colloidal dispersions of magnetic nanoparticles in carrier liquids. Their combination of magnetic and fluidic characteristics not only inspires fundamental inquiries into forms and functions of matter but also enables diverse applications ranging from sealants and coolants in mechanical devices to active components in smart materials and soft robots. Spurred by such fundamental and applied interests, a growing need for easy-to-synthesize, high-quality ferrofluid exists. Here, we report the facile synthesis and comprehensive characterization of a silicone oil-based ferrofluid that displays the characteristic surface instability of high-quality ferrofluids and demonstrate its functions in smart interfacial materials and soft robots. Silicone's chemical immiscibility with polar solvents and its biological inertness, when coupled with magnetic responsiveness and fluidic deformability, enable the manipulation of solid particles, gas bubbles, simple and complex liquids, as well as micro-organisms. We envision that the silicone oil-based ferrofluid will find applications in diverse areas, including magnetic digital microfluidics, multifunctional materials, and small-scale robotics.

Magnetization of immobilized multi-core particles with varying internal structures

This work is devoted to the study of the static magnetization of immobilized multi-core particles (MCPs) and their ensembles. These objects model aggregates of superparamagnetic nanoparticles that are taken up by biological cells and subsequently used, for example, as magnetoactive agents for cell imaging. In this study, we derive an analytical formula that allows us to predict the static magnetization of MCPs consisting of immobilized granules, in which the magnetic moment rotates freely via the Néel mechanism. The formula takes into account intergranule dipole-dipole interactions at the level of pair correlations and is suitable for determining the magnetization of MCPs with any structure. The theory is tested using Monte Carlo computer simulations on a series of MCP samples with 4 and 7 superparamagnetic granules. The results demonstrate that the formulas accurately describe the magnetization of MCPs with the intergranule dipolar coupling constant λ ≤ 2. We propose a method for determining the magnetization of an ensemble of non-interacting immobilized MCPs with interacting granules by identifying this system with an ensemble of single-core immobilized non-interacting superparamagnetic particles for which the effective magnetic anisotropy parameter is determined. The results obtained in this work represent a significant step towards predicting the magnetic response of MCPs in biological media, such as biological cells.

A versatile multilayer liquid-liquid encapsulation technique

HYPOTHESIS

Generating multi-layer cargo using conventional methods is challenging. We hypothesize that incorporating a Y-junction compound droplet generator to encase a target core inside a second liquid can circumvent the kinetic energy dependence of the impact-driven liquid-liquid encapsulation technique, enabling minimally restrictive multi-layer encapsulation.

EXPERIMENTS

Stable wrapping is obtained by impinging a compound droplet (generated using Y-junction) on an interfacial layer of another shell-forming liquid floating on a host liquid bath, leading to double-layered encapsulation. The underlying dynamics of the liquid-liquid interfaces are captured using high-speed imaging. To demonstrate the versatility of the technique, we used various liquids as interfacial layers, including magnetoresponsive oil-based ferrofluids. Moreover, we extended the technique to triple-layered encapsulation by overlaying a second interfacial layer atop the first floating interfacial layer.

FINDINGS

The encapsulating layer(s) effectively protects the water-soluble inner core (ethylene glycol) inside the water bath. A non-dimensional experimental regime is established for successful encapsulation in terms of the impact kinetic energy, interfacial layer thickness, and the viscosity ratio of the interfacial layer and the outer core liquid. Using selective fluorescent tagging, we confirm the presence of individual shell layers wrapped around the core, which presents a promising pathway to visualize the internal morphology of final encapsulated droplets.

Water-Stable Magnetic Lipiodol Micro-Droplets as a Miniaturized Robotic Tool for Drug Delivery

Magnetic microrobots, designed to navigate the complex environments of the human body, show promise for minimally invasive diagnosis and treatment. However, their clinical adoption faces hurdles such as biocompatibility, precise control, and intelligent tracking. Here a novel formulation (referred to water-stable magnetic lipiodol micro-droplets, MLMD), integrating clinically approved lipiodol, gelatin, and superparamagnetic iron oxide nanoparticles (SPION) with a fundamental understanding of the structure-property relationships is presented. This formulation demonstrates multiple improved properties including flowability, shape adaptability, efficient drug loading, and compatibility with digital subtraction angiography (DSA) imaging in both in vitro and in vivo experiments. This enables the MLMD as a versatile tool for image-guided therapy, supported by a close-looped magnetic navigation system featuring artificial intelligence (AI)-driven visual feedback for autonomous control. The system effectively performs navigational tasks, including pinpointing specific locations of MLMD, recognizing and avoiding obstacles, mapping and following predetermined paths, and utilizing magnetic fields for precise motion planning to achieve visual drug delivery. The MLMD combines magnetic actuation with an AI-directed close-looped navigation, offering a transformative platform for targeted therapeutic delivery.

Heterogeneous multiple soft millirobots in three-dimensional lumens

Miniature soft robots offer opportunities for safe and physically adaptive medical interventions in hard-to-reach regions. Deploying multiple robots could further enhance the efficacy and multifunctionality of these operations. However, multirobot deployment in physiologically relevant three-dimensional (3D) tubular structures is limited by the lack of effective mechanisms for independent control of miniature magnetic soft robots. This work presents a framework leveraging the shape-adaptive robotic design and heterogeneous resistance from robot-lumen interactions to enable magnetic multirobot control. We first compute influence and actuation regions to quantify robot movement. Subsequently, a path planning algorithm generates the trajectory of a permanent magnet for multirobot navigation in 3D lumens. Last, robots are controlled individually in multilayer lumen networks under medical imaging. Demonstrations of multilocation cargo delivery and flow diversion manifest their potential to enhance biomedical functions. This framework offers a solution to multirobot actuation benefiting applications across different miniature robotic devices in complex environments.

Untethered & Stiffness-Tunable Ferromagnetic Liquid Robots for Cleaning Thrombus in Complex Blood Vessels

Thrombosis is a significant threat to human health. However, the existing clinical treatment methods have limitations. Magnetic soft matter is used in the biomedical field for years, and ferromagnetic liquids exhibit tunable stiffness and on-demand movement advantages under magnetic fields. In this study, a ferromagnetic liquid robot (FMLR) is developed and applied it to thrombus removal in complex blood vessels. The FMLR consisted of Fe3O4 magnetic nanoparticles and dimethyl silicone oil. The FMLR can pass through a narrow complex maze through shape deformation by tailoring the intensity and direction of the external magnetic field. Finite element simulation analysis is used to validate the mechanism of controllable FMLR movements. Importantly, the storage modulus of FMLR can be tuned from 0.1 to 2018 Pa by varying the external magnetic intensity, ensuring its effectiveness in removing rigid and stubborn thrombi present on the vascular walls. Toward medical robotic applications, FMLR can be used in telerobotic neurointerventional. Experiments demonstrating the capability of FMLR to remove thrombi in the ear veins of rabbits are conducted. This study introduces an efficient approach for thrombus elimination, broadening the utilization of FMLRs within the realm of clinical medicine.

Wearable and Implantable Soft Robots

Soft robotics presents innovative solutions across different scales. The flexibility and mechanical characteristics of soft robots make them particularly appealing for wearable and implantable applications. The scale and level of invasiveness required for soft robots depend on the extent of human interaction. This review provides a comprehensive overview of wearable and implantable soft robots, including applications in rehabilitation, assistance, organ simulation, surgical tools, and therapy. We discuss challenges such as the complexity of fabrication processes, the integration of responsive materials, and the need for robust control strategies, while focusing on advances in materials, actuation and sensing mechanisms, and fabrication techniques. Finally, we discuss the future outlook, highlighting key challenges and proposing potential solutions.

Versatile, modular, and customizable magnetic solid-droplet systems

Magnetic miniature robotic systems have attracted broad research interest because of their precise maneuverability in confined spaces and adaptability to diverse environments, holding significant promise for applications in both industrial infrastructures and biomedical fields. However, the predominant construction methodology involves the preprogramming of magnetic components into the system's structure. While this approach allows for intricate shape transformations, it exhibits limited flexibility in terms of reconfiguration and presents challenges when adapting to diverse materials, combining, and decoupling multiple functionalities. Here, we propose a construction strategy that facilitates the on-demand assembly of magnetic components, integrating ferrofluid droplets with the system's structural body. This approach enables the creation of complex solid-droplet robotic systems across a spectrum of length scales, ranging from 0.8 mm to 1.5 cm. It offers a diverse selection of materials and structural configurations, akin to assembling components like building blocks, thus allowing for the seamless integration of various functionalities. Moreover, it incorporates decoupling mechanisms to enable selective control over multiple functions, leveraging the fluidity, fission/fusion, and magneto-responsiveness properties inherent in the ferrofluid. Various solid-droplet systems have validated the feasibility of this strategy. This study advances the complexity and functionality achievable in small-scale magnetic robots, augmenting their potential for future biomedical and other applications.

Individual and collective manipulation of multifunctional bimodal droplets in three dimensions

Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.

Magnetically Selective Versatile Transport of Microrobotic Carriers

Field-driven transport systems offer great promise for use as biofunctionalized carriers in microrobotics, biomedicine, and cell delivery applications. Despite the construction of artificial microtubules using several micromagnets, which provide a promising transport pathway for the synchronous delivery of microrobotic carriers to the targeted location inside microvascular networks, the selective transport of different microrobotic carriers remains an unexplored challenge. This study demonstrated the selective manipulation and transport of microrobotics along a patterned micromagnet using applied magnetic fields. Owing to varied field strengths, the magnetic beads used as the microrobotic carriers with different sizes revealed varied locomotion, including all of them moving along the same direction, selective rotation, bidirectional locomotion, and all of them moving in a reversed direction. Furthermore, cells immobilized with magnetic beads and nanoparticles also revealed varied locomotion. It is expected that such steering strategies of microrobotic carriers can be used in microvascular channels for the targeted delivery of drugs or cells in an organized manner.

Noncontact Microfluidics of Highly Viscous Liquids for Accurate Self-Splitting and Pipetting

Accurate dosing for various liquids, especially for highly viscous liquids, is fundamental in wide-ranging from molecular crosslinking to material processing. Despite droppers or pipettes being widely used as pipetting devices, they are powerless for quantificationally splitting and dosing highly viscous liquids (>100 mPa s) like polymer liquids due to the intertwined macromolecular chains and strong cohesion energy. Here, a highly transparent photopyroelectric slippery (PS) platform is provided to achieve noncontact self-splitting for liquids with viscosity as high as 15 000 mPa s, just with the assistance of sunlight and a cooling source to provide a local temperature difference (ΔT). Moreover, to guarantee the accuracy for pipetting liquids (>80%), the ultrathin MXene film (within a thickness of 20 nm) is self-assembled as the photo-thermal layers, overcoming the trade-off between transparency and photothermal property. Compared with traditional pipetting strategies (≈1.3% accuracy for pipetting polymer liquids), this accurate microfluidic chip shows great potential in adhesive systems (bonding strength, twice than using the droppers or pipettes).

Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions

Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.

Permanent fluidic magnets for liquid bioelectronics

Brownian motion allows microscopically dispersed nanoparticles to be stable in ferrofluids, as well as causes magnetization relaxation and prohibits permanent magnetism. Here we decoupled the particle Brownian motion from colloidal stability to achieve a permanent fluidic magnet with high magnetization, flowability and reconfigurability. The key to create such permanent fluidic magnets is to maintain a stable magnetic colloidal fluid by using non-Brownian magnetic particles to self-assemble a three-dimensional oriented and ramified magnetic network structure in the carrier fluid. This structure has high coercivity and permanent magnetization, with long-term magnetization stability. We establish a scaling theory model to decipher the permanent fluid magnet formation criteria and formulate a general assembly guideline. Further, we develop injectable and retrievable permanent-fluidic-magnet-based liquid bioelectronics for highly sensitive, self-powered wireless cardiovascular monitoring. Overall, our findings highlight the potential of permanent fluidic magnets as an ultrasoft material for liquid devices and systems, from bioelectronics to robotics.

Highly Interfacial Active Gemini Surfactants as Simple and Versatile Emulsifiers for Stabilizing, Lubricating and Structuring Liquids

To date, locking the shape of liquids into non-equilibrium states usually relies on jamming nanoparticle surfactants at an oil/water interface. Here we show that a synthetic water-soluble zwitterionic Gemini surfactant can serve as an alternative to nanoparticle surfactants for stabilizing, structuring and additionally lubricating liquids. By having a high binding energy comparable to amphiphilic nanoparticles at the paraffin oil/water interface, the surfactant can attain near-zero interfacial tensions and ultrahigh surface coverages after spontaneous adsorption. Owing to the strong association between neighboring surfactant molecules, closely packed monolayers with high mechanical elasticity can be generated at the oil/water interface, thus allowing the surfactant to produce not only ultra-stable emulsions but also structured liquids with various geometries by using extrusion printing and 3D printing techniques. By undergoing tribochemical reactions at its sulfonic terminus, the surfactant can endow the resultant emulsions with favorable lubricity even under high load-bearing conditions. Our study may provide new insights into creating complex liquid devices and new-generation lubricants capable of combining the characteristics of both liquid and solid lubricants.

Learning to Control a Three-Dimensional Ferrofluidic Robot

In recent years, ferrofluids have found increased popularity as a material for medical applications, such as ocular surgery, gastrointestinal surgery, and cancer treatment, among others. Ferrofluidic robots are multifunctional and scalable, exhibit fluid properties, and can be controlled remotely; thus, they are particularly advantageous for such medical tasks. Previously, ferrofluidic robot control has been achieved via the manipulation of handheld permanent magnets or in current-controlled electromagnetic fields resulting in two-dimensional position and shape control and three-dimensional (3D) coupled position-shape or position-only control. Control of ferrofluidic liquid droplet robots poses a unique challenge where model-based control has been shown to be computationally limiting. Thus, in this study, a model-free control method is chosen, and it is shown that the task of learning optimal control parameters for ferrofluidic robot control can be performed using machine learning. Particularly, we explore the use of Bayesian optimization to find optimal controller parameters for 3D pose control of a ferrofluid droplet: its centroid position, stretch direction, and stretch radius. We demonstrate that the position, stretch direction, and stretch radius of a ferrofluid droplet can be independently controlled in 3D with high accuracy and precision, using a simple control approach. Finally, we use ferrofluidic robots to perform pick-and-place, a lab-on-a-chip pH test, and electrical switching, in 3D settings. The purpose of this research is to expand the potential of ferrofluidic robots by introducing full pose control in 3D and to showcase the potential of this technology in the areas of microassembly, lab-on-a-chip, and electronics. The approach presented in this research can be used as a stepping-off point to incorporate ferrofluidic robots toward future research in these areas.

Droplet Manipulation on Bioinspired Slippery Surfaces: From Design Principle to Biomedical Applications

Droplet manipulation with high efficiency, high flexibility, and programmability, is essential for various applications in biomedical sciences and engineering. Bioinspired liquid-infused slippery surfaces (LIS), with exceptional interfacial properties, have led to expanding research for droplet manipulation. In this review, an overview of actuation principles is presented to illustrate how materials or systems can be designed for droplet manipulation on LIS. Recent progress on new manipulation methods on LIS is also summarized and their prospective applications in anti-biofouling and pathogen control, biosensing, and the development of digital microfluidics are presented. Finally, an outlook is made on the key challenges and opportunities for droplet manipulation on LIS.

A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation

Magnetically actuated microrobots have become a research hotspot in recent years due to their tiny size, untethered control, and rapid response capability. Moreover, an increasing number of researchers are applying them for micro-/nano-manipulation in the biomedical field. This survey provides a comprehensive overview of the recent developments in magnetic microrobots, focusing on materials, propulsion mechanisms, design strategies, fabrication techniques, and diverse micro-/nano-manipulation applications. The exploration of magnetic materials, biosafety considerations, and propulsion methods serves as a foundation for the diverse designs discussed in this review. The paper delves into the design categories, encompassing helical, surface, ciliary, scaffold, and biohybrid microrobots, with each demonstrating unique capabilities. Furthermore, various fabrication techniques, including direct laser writing, glancing angle deposition, biotemplating synthesis, template-assisted electrochemical deposition, and magnetic self-assembly, are examined owing to their contributions to the realization of magnetic microrobots. The potential impact of magnetic microrobots across multidisciplinary domains is presented through various application areas, such as drug delivery, minimally invasive surgery, cell manipulation, and environmental remediation. This review highlights a comprehensive summary of the current challenges, hurdles to overcome, and future directions in magnetic microrobot research across different fields.

Magnetic Lateral Ladder for Unidirectional Transport of Microrobots: Design Principles and Potential Applications of Cells-on-Chip

Functionalized microrobots, which are directionally manipulated in a controlled and precise manner for specific tasks, face challenges. However, magnetic field-based controls constrain all microrobots to move in a coordinated manner, limiting their functions and independent behaviors. This article presents a design principle for achieving unidirectional microrobot transport using an asymmetric magnetic texture in the shape of a lateral ladder, which the authors call the "railway track." An asymmetric magnetic energy distribution along the axis allows for the continuous movement of microrobots in a fixed direction regardless of the direction of the magnetic field rotation. The authors demonstrated precise control and simple utilization of this method. Specifically, by placing magnetic textures with different directionalities, an integrated cell/particle collector can collect microrobots distributed in a large area and move them along a complex trajectory to a predetermined location.  The authors can leverage the versatile capabilities offered by this texture concept, including hierarchical isolation, switchable collection, programmable pairing, selective drug-response test, and local fluid mixing for target objects. The results demonstrate the importance of microrobot directionality in achieving complex individual control. This novel concept represents significant advancement over conventional magnetic field-based control technology and paves the way for further research in biofunctionalized microrobotics.

Spinning a Liquid Wheel and Driving Surface Thermomagnetic Convection with Light

A typical Tesla thermomagnetic engine employs a solid magnetic wheel to convert thermal energy into mechanical energy, while thermomagnetic convection in ferrofluid is still challenging to observe because it is a volume convection that occurs in an enclosed space. Using a water-based ferrofluid, a liquid Tesla thermomagnetic engine is demonstrated and reports the observation of thermomagnetic convection on a free surface. Both types of fluid motions are driven by light and observed by simply placing ferrofluid on a cylindrical magnet. The surface thermomagnetic convection on the free surface is made possible by eliminating the Marangoni effect, while the spinning of the liquid wheel is achieved through the solid-like behavior of the ferrofluid under a strong magnetic field. Increasing the magnetic field reveals a transition from simple thermomagnetic convection to a combination of the central spin of the spiky wheel surrounded by thermomagnetic convection in the outer region of the ferrofluid. The coupling between multiple ferrofluid wheels through a fluid bridge is further demonstrated. These demonstrations not only unveil the unique properties of ferrofluid but also provide a new platform for studying complex fluid dynamics and thermomagnetic convection, opening up exciting opportunities for light-controlled fluid actuation and soft robotics.

Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.

Engineering Magnetic Soft and Reconfigurable Robots

Magnetic control has gained popularity recently due to its ability to enhance soft robots with reconfigurability and untethered maneuverability, among other capabilities. Several advancements in the fabrication and application of reconfigurable magnetic soft robots have been reported. This review summarizes novel fabrication techniques for designing magnetic soft robots, including chemical and physical methods. Mechanisms of reconfigurability and deformation properties are discussed in detail. The maneuverability of magnetic soft robots is then briefly discussed. Finally, the present challenges and possible future work in designing reconfigurable magnetic soft robots for biomedical applications are identified.

Biocompatible Ferrofluid-Based Millirobot for Tumor Photothermal Therapy in Near-Infrared-II Window

Ferrofluidic robots with excellent deformability and controllability have been intensively studied recently. However, most of these studies are in vitro and the use of ferrofluids for in vivo medicinal applications remains a big challenge. The application of ferrofluidic robots to the body requires the solution of many key problems. In this study, biocompatibility, controllability, and tumor-killing efficacy are considered when creating a ferrofluid-based millirobot for in vivo tumor-targeted therapy. For biocompatibility problems, corn oil is used specifically for the ferrofluid robot. In addition, a control system is built that enables a 3D magnetic drive to be implemented in complex biological media. Using the photothermal conversion property of 1064 nm, the ferrofluid robot can kill tumor cells in vitro; inhibit tumor volume, destroy the tumor interstitium, increase tumor cell apoptosis, and inhibit tumor cell proliferation in vivo. This study provides a reference for ferrofluid-based millirobots to achieve targeted therapies in vivo.

Material assembly from collective action of shape-changing polymers

Some animals form transient, responsive and solid-like ensembles through dynamic structural interactions. These ensembles demonstrate emergent responses such as spontaneous self-assembly, which are difficult to achieve in synthetic soft matter. Here we use shape-morphing units comprising responsive polymers to create solids that self-assemble, modulate their volume and disassemble on demand. The ensemble is composed of a responsive hydrogel, liquid crystal elastomer or semicrystalline polymer ribbons that reversibly bend or twist. The dispersions of these ribbons mechanically interlock, inducing reversible aggregation. The aggregated liquid crystal elastomer ribbons have a 12-fold increase in the yield stress compared with cooled dispersion and contract by 34% on heating. Ribbon type, concentration and shape dictate the aggregation and govern the global mechanical properties of the solid that forms. Coating liquid crystal elastomer ribbons with a liquid metal begets photoresponsive and electrically conductive aggregates, whereas seeding cells on hydrogel ribbons enables self-assembling three-dimensional scaffolds, providing a versatile platform for the design of dynamic materials.

Magnetoactive Millirobots with Ternary Phase Transition

Magnetoactive soft millirobots have made significant advances in programmable deformation, multimodal locomotion, and untethered manipulation in unreachable regions. However, the inherent limitations are manifested in the solid-phase millirobot as limited deformability and in the liquid-phase millirobot as low stiffness. Herein, we propose a ternary-state magnetoactive millirobot based on a phase transitional polymer embedded with magnetic nanoparticles. The millirobot can reversibly transit among the liquid, solid, and viscous-fluid phases through heating and cooling. The liquid-phase millirobot has elastic deformation and mobility for unimpeded navigation in a constrained space. The viscous-fluid phase millirobot shows irreversible deformation and large ductility. The solid-phase millirobot shows good shape stability and controllable locomotion. Moreover, the ternary-state magnetoactive millirobot can achieve prominent capabilities including stiffness change and shape reconfiguration through phase transition. The millirobot can perform potential functions of navigation in complex terrain, three-dimensional circuit connection, and simulated treatment in a stomach model. This magnetoactive millirobot may find new applications in flexible electronics and biomedicine.

Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation

Liquid metals, with their unique combination of electrical and mechanical properties, offer great opportunities for actuation based on surface tension modulation. Thanks to the scaling laws of surface tension, which can be electrochemically controlled at low voltages, liquid metal actuators stand out from other soft actuators for their remarkable characteristics such as high contractile strain rates and higher work densities at smaller length scales. This review summarizes the principles of liquid metal actuators and discusses their performance as well as theoretical pathways toward higher performances. The objective is to provide a comparative analysis of the ongoing development of liquid metal actuators. The design principles of the liquid metal actuators are analyzed, including low-level elemental principles (kinematics and electrochemistry), mid-level structural principles (reversibility, integrity, and scalability), and high-level functionalities. A wide range of practical use cases of liquid metal actuators from robotic locomotion and object manipulation to logic and computation is reviewed. From an energy perspective, strategies are compared for coupling the liquid metal actuators with an energy source toward fully untethered robots. The review concludes by offering a roadmap of future research directions of liquid metal actuators.

Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton

Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.

Combined three dimensional locomotion and deformation of functional ferrofluidic robots

Magnetic microrobots possess remarkable potential for targeted applications in the medical field, primarily due to their non-invasive, controllable properties. These unique qualities have garnered increased attention and fascination among researchers. However, these robotic systems do face challenges such as limited deformation capabilities and difficulties navigating confined spaces. Recently, researchers have turned their attention towards magnetic droplet robots, which are notable for their superior deformability, controllability, and potential for a range of applications such as automated virus detection and targeted drug delivery. Despite these advantages, the majority of current research is constrained to two-dimensional deformation and motion, thereby limiting their broader functionality. In response to these limitations, this study proposes innovative strategies for controlling deformation and achieving a three-dimensional (3D) trajectory in ferrofluidic robots. These strategies leverage a custom-designed eight-axis electromagnetic coil and a sliding mode controller. The implementation of these methods exhibits the potential of ferrofluidic robots in diverse applications, including microfluidic pump systems, 3D micromanipulation, and selective vascular occlusion. In essence, this study aims to broaden the capabilities of ferrofluidic robots, thereby enhancing their applicability across a multitude of fields such as medicine, micromanipulation, bioengineering, and more by maximizing the potential of these intricate robotic systems.

Reactive wetting enabled anchoring of non-wettable iron oxide in liquid metal for miniature soft robot

Magnetic liquid metal (LM) soft robots attract considerable attentions because of distinctive immiscibility, deformability and maneuverability. However, conventional LM composites relying on alloying between LM and metallic magnetic powders suffer from diminished magnetism over time and potential safety risk upon leakage of metallic components. Herein, we report a strategy to composite inert and biocompatible iron oxide (Fe3O4) magnetic nanoparticles into eutectic gallium indium LM via reactive wetting mechanism. To address the intrinsic interfacial non-wettability between Fe3O4 and LM, a silver intermediate layer was introduced to fuse with indium component into AgxIny intermetallic compounds, facilitating the anchoring of Fe3O4 nanoparticles inside LM with improved magnetic stability. Subsequently, a miniature soft robot was constructed to perform various controllable deformation and locomotion behaviors under actuation of external magnetic field. Finally, practical feasibility of applying LM soft robot in an ex vivo porcine stomach was validated under in-situ monitoring by endoscope and X-ray imaging.

Application of 4D printing and bioprinting in cardiovascular tissue engineering

Cardiovascular diseases have remained the leading cause of death worldwide for the past 20 years. The current clinical therapeutic measures, including bypass surgery, stent implantation and pharmacotherapy, are not enough to repair the massive loss of cardiomyocytes after myocardial ischemia. Timely replenishment with functional myocardial tissue via biomedical engineering is the most direct and effective means to improve the prognosis and survival rate of patients. It is widely recognized that 4D printing technology introduces an additional dimension of time in comparison with traditional 3D printing. Additionally, in the context of 4D bioprinting, both the printed material and the resulting product are designed to be biocompatible, which will be the mainstream of bioprinting in the future. Thus, this review focuses on the application of 4D bioprinting in cardiovascular diseases, discusses the bottleneck of the development of 4D bioprinting, and finally looks forward to the future direction and prospect of this revolutionary technology.

Correlating the Dipolar Interactions Induced Magneto-Viscoelasticity and Thermal Conductivity Enhancements in Nanomagnetic Fluids

The effective thermal management of electronic system holds the key to maximize their performance. The recent miniaturization trends require a cooling system with high heat flux capacity, localized cooling, and active control. Nanomagnetic fluids (NMFs) based cooling systems have the ability to meet the current demand of the cooling system for the miniaturized electronic system. However, the thermal characteristics of NMFs have a long way to go before the internal mechanisms are well understood. This review mainly focuses on the three aspects to establish a correlation between the thermal and rheological properties of the NMFs. First, the background, stability, and factors affecting the properties of the NMFs are discussed. Second, the ferrohydrodynamic equations are introduced for the NMFs to explain the rheological behavior and relaxation mechanism. Finally, different theoretical and experimental models are summarized that explain the thermal characteristics of the NMFs. Thermal characteristics of the NMFs are significantly affected by the morphology and composition of the magnetic nanoparticles (MNPs) in NMFs as well as the type of carrier liquids and surface functionalization that also influences the rheological properties. Thus, understanding the correlation between the thermal characteristics of the NMFs and rheological properties helps develop cooling systems with improved performance.

Millirobot Based on a Phase-Transformable Magnetorheological Liquid Metal

Droplet robots have attracted much attention in recent years due to their large-scale deformability and flexible mobility in confined spaces. However, droplet robots are always difficult to maintain rigid shapes, making them difficult to manipulate objects with large inertia. Moreover, their low conductivity makes them unable to complete tasks such as circuit repair. Herein, a millirobot made from magnetorheological liquid metal is proposed to address the problems. Specifically, the magnetorheological liquid metal (MLM) robot is made by engulfing iron particles into gallium-indium alloy, and the mass fraction of the MLM robot is determined by microscopic observation and rheological test. The MLM robot possesses both solid and liquid properties, enabling the robot with plasticity, large-scale deformability, good conductivity, motion flexibility, and good object manipulation. The MLM robot can achieve almost all of the functions of existing droplet robots, including splitting, merging, navigating in narrow channels, and pushing objects. In addition, it can also accomplish some other tasks that are difficult for existing droplet robots, such as pulling large objects, repairing damaged circuits selectively and reversibly, and repairing suspended circuits through plasticity. The demos show that MLM robots can traverse narrow spaces and repair circuit damage selectively and reversibly. It is believed that MLM robots can enrich diverse functionalities in the future.

Biological Robots: Perspectives on an Emerging Interdisciplinary Field

Advances in science and engineering often reveal the limitations of classical approaches initially used to understand, predict, and control phenomena. With progress, conceptual categories must often be re-evaluated to better track recently discovered invariants across disciplines. It is essential to refine frameworks and resolve conflicting boundaries between disciplines such that they better facilitate, not restrict, experimental approaches and capabilities. In this essay, we address specific questions and critiques which have arisen in response to our research program, which lies at the intersection of developmental biology, computer science, and robotics. In the context of biological machines and robots, we explore changes across concepts and previously distinct fields that are driven by recent advances in materials, information, and life sciences. Herein, each author provides their own perspective on the subject, framed by their own disciplinary training. We argue that as with computation, certain aspects of developmental biology and robotics are not tied to specific materials; rather, the consilience of these fields can help to shed light on issues of multiscale control, self-assembly, and relationships between form and function. We hope new fields can emerge as boundaries arising from technological limitations are overcome, furthering practical applications from regenerative medicine to useful synthetic living machines.

Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems

Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.

A Soft Reconfigurable Circulator Enabled by Magnetic Liquid Metal Droplet for Multifunctional Control of Soft Robots

Integrated control circuits with multiple computation functions are essential for soft robots to achieve diverse complex real tasks. However, designing compliant yet simple circuits to embed multiple computation functions in soft electronic systems above the centimeter scale is still a tough challenge. Herein, utilizing smooth cyclic motions of magnetic liquid metal droplets (MLMD) in specially designed and surface-modified circulating channels, a soft reconfigurable circulator (SRC) consisting of three simple and reconfigurable basic modules is described. Through these modules, MLMD can utilize their conductivity and extreme deformation capabilities to transfer their simple cyclic motions as input signals to programmable electrical output signals carrying computing information. The obtained SRCs make it possible for soft robots to perform complex computing tasks, such as logic, programming, and self-adaptive control (a combination of programming and feedback control). Following, a digital logic-based grasping function diagnosis, a locomotion reprogrammable soft car, and a self-adaptive control-based soft sorting gripper are demonstrated to verify SRCs' capabilities. The unique attributes of MLMD allow complex computations based on simple configurations and inputs, which provide new ways to enhance soft robots' computing capabilities.

Review of Ultrasonic Particle Manipulation Techniques: Applications and Research Advances

Ultrasonic particle manipulation technique is a non-contact label-free method for manipulating micro- and nano-scale particles using ultrasound, which has obvious advantages over traditional optical, magnetic, and electrical micro-manipulation techniques; it has gained extensive attention in micro-nano manipulation in recent years. This paper introduces the basic principles and manipulation methods of ultrasonic particle manipulation techniques, provides a detailed overview of the current mainstream acoustic field generation methods, and also highlights, in particular, the applicable scenarios for different numbers and arrangements of ultrasonic transducer devices. Ultrasonic transducer arrays have been used extensively in various particle manipulation applications, and many sound field reconstruction algorithms based on ultrasonic transducer arrays have been proposed one after another. In this paper, unlike most other previous reviews on ultrasonic particle manipulation, we analyze and summarize the current reconstruction algorithms for generating sound fields based on ultrasonic transducer arrays and compare these algorithms. Finally, we explore the applications of ultrasonic particle manipulation technology in engineering and biological fields and summarize and forecast the research progress of ultrasonic particle manipulation technology. We believe that this review will provide superior guidance for ultrasonic particle manipulation methods based on the study of micro and nano operations.

Magnetic Quincke rollers with tunable single-particle dynamics and collective states

Electrohydrodynamically driven active particles based on Quincke rotation have quickly become an important model system for emergent collective behavior in nonequilibrium colloidal systems. Like most active particles, Quincke rollers are intrinsically nonmagnetic, preventing the use of magnetic fields to control their complex dynamics on the fly. Here, we report on magnetic Quincke rollers based on silica particles doped with superparamagnetic iron oxide nanoparticles. We show that their magnetic nature enables the application of both externally controllable forces and torques at high spatial and temporal precision, leading to several versatile control mechanisms for their single-particle dynamics and collective states. These include tunable interparticle interactions, potential energy landscapes, and advanced programmable and teleoperated behaviors, allowing us to discover and probe active chaining, anisotropic active sedimentation-diffusion equilibria, and collective states in various geometries and dimensionalities.

Optoelectronic Trajectory Reconfiguration and Directed Self-Assembly of Self-Propelling Electrically Powered Active Particles

Self-propelling active particles are an exciting and interdisciplinary emerging area of research with projected biomedical and environmental applications. Due to their autonomous motion, control over these active particles that are free to travel along individual trajectories, is challenging. This work uses optically patterned electrodes on a photoconductive substrate using a digital micromirror device (DMD) to dynamically control the region of movement of self-propelling particles (i.e., metallo-dielectric Janus particles (JPs)). This extends previous studies where only a passive micromotor is optoelectronically manipulated with a translocating optical pattern that illuminates the particle. In contrast, the current system uses the optically patterned electrode merely to define the region within which the JPs moved autonomously. Interestingly, the JPs avoid crossing the optical region's edge, which enables constraint of the area of motion and to dynamically shape the JP trajectory. Using the DMD system to simultaneously manipulate several JPs enables to self-assemble the JPs into stable active structures (JPs ring) with precise control over the number of participating JPs and passive particles. Since the optoelectronic system is amenable to closed-loop operation using real-time image analysis, it enables exploitation of these active particles as active microrobots that can be operated in a programmable and parallelized manner.

Horizontal and Vertical Coalescent Microrobotic Collectives Using Ferrofluid Droplets

Many artificial miniature robotic collectives have been developed to overcome the inherent limitations of inadequate individual capabilities. However, the basic building blocks of the reported collectives are mainly in the solid state, where the morphological boundaries of internal individuals are clear and cannot genuinely merge. Miniature robotic collectives based on liquid units still need to be explored; such on-demand mergeable swarm systems are advantageous for adapting to the changing external environment. Here, a strategy to achieve a coalescent collective system we presented that exploits the ferrofluid droplets' splitting and coalescence properties to trigger the formation of horizontal multimodal and vertical gravity-resistant collectives and unveil pattern-enabled robotic functionalities. When subjected to a time-varying magnetic field, the droplet swarm exhibits a variety of morphologies ranging from horizontal collectives, including vortex-like, chain-like, and crystal-like patterns to vertical layer-upon-layer patterns. Using experiments and simulations, the formation and transformation of different morphological collectives are shown and their robust environmental adaptability are demonstrated. Potential applications of the multimodal droplet collectives are presented, including exploring an unknown environment, targeted object delivery, and fluid flow filtration in a lab-on-a-chip. This work may facilitate the design of microrobotic swarm systems and expand the range of materials for miniature robots.

Miniaturizing chemistry and biology using droplets in open systems

Open droplet microfluidic systems manipulate droplets on the picolitre-to-microlitre scale in an open environment. They combine the compartmentalization and control offered by traditional droplet-based microfluidics with the accessibility and ease-of-use of open microfluidics, bringing unique advantages to applications such as combinatorial reactions, droplet analysis and cell culture. Open systems provide direct access to droplets and allow on-demand droplet manipulation within the system without needing pumps or tubes, which makes the systems accessible to biologists without sophisticated setups. Furthermore, these systems can be produced with simple manufacturing and assembly steps that allow for manufacturing at scale and the translation of the method into clinical research. This Review introduces the different types of open droplet microfluidic system, presents the physical concepts leveraged by these systems and highlights key applications.

Amoeba-Inspired Magnetic Venom Microrobots

Nature provides a successful evolutionary direction for single-celled organisms to solve complex problems and complete survival tasks - pseudopodium. Amoeba, a unicellular protozoan, can produce temporary pseudopods in any direction by controlling the directional flow of protoplasm to perform important life activities such as environmental sensing, motility, predation, and excretion. However, creating robotic systems with pseudopodia to emulate environmental adaptability and tasking capabilities of natural amoeba or amoeboid cells remains challenging. Here, this work presents a strategy that uses alternating magnetic fields to reconfigure magnetic droplet into Amoeba-like microrobot, and the mechanisms of pseudopodia generation and locomotion are analyzed. By simply adjusting the field direction, microrobots switch in monopodia, bipodia, and locomotion modes, performing all pseudopod operations such as active contraction, extension, bending, and amoeboid movement. The pseudopodia endow droplet robots with excellent maneuverability to adapt to environmental variations, including spanning 3D terrains and swimming in bulk liquids. Inspired by the "Venom," the phagocytosis and parasitic behaviors have also been investigated. Parasitic droplets inherit all the capabilities of amoeboid robot, expanding their applicable scenarios such as reagent analysis, microchemical reactions, calculi removal, and drug-mediated thrombolysis. This microrobot may provide fundamental understanding of single-celled livings, and potential applications in biotechnology and biomedicine.

Shaping Liquid Droplets on an Active Air-Ferrofluid Interface

An air-liquid interface is important in many biological and industrial applications, where the manipulation of liquids on the air-liquid interface can have a significant impact. However, current manipulation techniques on the interface are mostly limited to transportation and trapping. Here, we report a magnetic liquid shaping method that can squeeze, rotate, and shape nonmagnetic liquids on an air-ferrofluid interface with programmable deformation. We can control the aspect ratio of the ellipse and generate repeatable quasi-static shapes of a hexadecane oil droplet. We can rotate droplets and stir liquids into spiral-like structures. We can also shape phase-changing liquids and fabricate shape-programmed thin films at the air-ferrofluid interface. The proposed method may potentially open up new possibilities for film fabrication, tissue engineering, and biological experiments that can be carried out at an air-liquid interface.

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

With the development of advanced biomedical theragnosis and bioengineering tools, smart and soft responsive microstructures and nanostructures have emerged. These structures can transform their body shape on demand and convert external power into mechanical actions. Here, we survey the key advances in the design of responsive polymer-particle nanocomposites that led to the development of smart shape-morphing microscale robotic devices. We overview the technological roadmap of the field and highlight the emerging opportunities in programming magnetically responsive nanomaterials in polymeric matrixes, as magnetic materials offer a rich spectrum of properties that can be encoded with various magnetization information. The use of magnetic fields as a tether-free control can easily penetrate biological tissues. With the advances in nanotechnology and manufacturing techniques, microrobotic devices can be realized with the desired magnetic reconfigurability. We emphasize that future fabrication techniques will be the key to bridging the gaps between integrating sophisticated functionalities of nanoscale materials and reducing the complexity and footprints of microscale intelligent robots.

Small-Scale Robotics with Tailored Wettability

Small-scale robots (SSRs) have emerged as promising and versatile tools in various biomedical, sensing, decontamination, and manipulation applications, as they are uniquely capable of performing tasks at small length scales. With the miniaturization of robots from the macroscale to millimeter-, micrometer-, and nanometer-scales, the viscous and surface forces, namely adhesive forces and surface tension have become dominant. These forces significantly impact motion efficiency. Surface engineering of robots with both hydrophilic and hydrophobic functionalization presents a brand-new pathway to overcome motion resistance and enhance the ability to target and regulate robots for various tasks. This review focuses on the current progress and future perspectives of SSRs with hydrophilic and hydrophobic modifications (including both tethered and untethered robots). The study emphasizes the distinct advantages of SSRs, such as improved maneuverability and reduced drag forces, and outlines their potential applications. With continued innovation, rational surface engineering is expected to endow SSRs with exceptional mobility and functionality, which can broaden their applications, enhance their penetration depth, reduce surface fouling, and inhibit bacterial adhesion.

Delayed Hopf bifurcation and control of a ferrofluid interface via a time-dependent magnetic field

A ferrofluid droplet confined in a Hele-Shaw cell can be deformed into a stably spinning "gear," using crossed magnetic fields. Previously, fully nonlinear simulation revealed that the spinning gear emerges as a stable traveling wave along the droplet's interface bifurcates from the trivial (equilibrium) shape. In this work, a center manifold reduction is applied to show the geometrical equivalence between a two-harmonic-mode coupled system of ordinary differential equations arising from a weakly nonlinear analysis of the interface shape and a Hopf bifurcation. The rotating complex amplitude of the fundamental mode saturates to a limit cycle as the periodic traveling wave solution is obtained. An amplitude equation is derived from a multiple-time-scale expansion as a reduced model of the dynamics. Then, inspired by the well-known delay behavior of time-dependent Hopf bifurcations, we design a slowly time-varying magnetic field such that the timing and emergence of the interfacial traveling wave can be controlled. The proposed theory allows us to determine the time-dependent saturated state resulting from the dynamic bifurcation and delayed onset of instability. The amplitude equation also reveals hysteresislike behavior upon time reversal of the magnetic field. The state obtained upon time reversal differs from the state obtained during the initial (forward-time) period, yet it can still be predicted by the proposed reduced-order theory.