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Magnetorheological (MR) elastomers, consisting of soft matrix and magnetic particles, present the ability of fast, untethered, reversible and controllable deformation under the magnetic field. Thus, MR elastomers can enable the on-demand magnetic manipulation deformation of soft actuators, which further adapts to different functional applications. Due to the complex structure, traditional molding methods are limited in manufacturing magnetic actuators. Therefore, magnetic actuators with programmable structure design and controllable deformation ability based on 3D printing technology have attracted extensive attention. This work proposes novel 3D printing strategies based on the fused filament method (Figure 1) and screw extrusion method (Figure 2), in which MR elastomer with both thermoplastic property and excellent magnetic field-induced deformation capability is an ideal printed material. With the aid of the 3D printing technology, various magnetic actuators are constructed. Then, the magnetic response deformation behavior of the actuators is investigated by the experiments and simulations, and the results show that the magnetic actuators possessed remote magnetic actuation, fast response capability, and good controllability. This work provides new opportunities for the development of magnetic actuators in the field of soft robotics.

magnetorheological elastomer,3D printing,soft actuator,magnetic actuation