Soft Intelligent Structures with Complex Magnetizations

Abstract

Modern mechatronic systems offer precision and automation through highly specialized sensors, controllers, actuators, and batteries connected by electric wires. Many natural organisms (e.g. bacteria, fungi, and plants) have evolved intelligent behaviors without sharing the same system architecture. Instead, the functions are partially encoded into the material and structures, and the control is performed through mechanical interactions between the material and the environment. Here, we show that by encoding complex magnetization patterns, mechanical intelligence can emerge in magnetic soft robots. Developing these multi-functional soft robots imposes challenges on the design, fabrication, and control of soft magnetic materials and structures. In this thesis, we develop different methods for programming the magnetization patterns from the micrometer to the centimeter scale. We also show the unique advantages and functions that can be achieved with novel magnetization in various soft robotic systems. Magnetic soft robots with complex magnetizations can facilitate the fundamental studies of active matter systems, construct metamaterials, and design novel biomedical devices.