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.

中文翻译：

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多功能、高输出毫牛顿力的磁性液态金属液滴机器人。

磁力驱动的微型机器人由于能够在受限空间中导航，因此在芯片实验室和生物医学领域具有不可估量的潜力。然而，目前由弹性体制成的软体机器人功能有限，并且由于其不可变形或变形能力有限，因此无法进入非常狭窄的环境，例如比其尺寸小得多的通道。在这项研究中，报道了一种基于液态金属的软多功能机器人（磁性液态金属液滴机器人 [MLDR]），具有高输出力。它是通过将铁颗粒吞入 Galinstan 液滴中制成的。通过改变永磁体的形状和运动，可以重塑和移动 MLDR。MLDR也可以批量拆分和高效合并。在狭窄航道自由航行时表现出良好的柔软性和灵活性，因此可以轻松通过比其尺寸小的密闭空间。此外，MLDR 还可以将积聚的液体按所需路径推动和扩散，并很好地操纵小物体的运动。得益于类似凝固的现象，MLDR 可以输出毫牛顿级的力，远高于微牛顿级的铁磁流体液滴机器人的输出力。MLDR 所展示的功能有望在芯片实验室或生物医学设备中得到应用。MLDR可以输出毫牛顿级的力，远高于铁磁流体液滴机器人在微牛顿级的输出力。MLDR 所展示的功能有望在芯片实验室或生物医学设备中得到应用。MLDR可以输出毫牛顿级的力，远高于铁磁流体液滴机器人在微牛顿级的输出力。MLDR 所展示的功能有望在芯片实验室或生物医学设备中得到应用。