ArticleScience robotics2021
Voxelated three-dimensional miniature magnetic soft machines via multimaterial heterogeneous assembly.
Article in Science robotics, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 95 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
95 citing papers in PubMed.
- Programming of Complex Magnetic Profiles Enforced by 4D Printed Magnetic LCE Actuators.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- CD5Science advances · 2026Article
- Programmable Magnetic Soft Robots via Assembled Magnetization and Joint-Mediated Symmetry Breaking.Micromachines · 2026Article
- 3D Printing of Magnetic Soft Materials for Functional Structures and Devices.Advanced materials (Deerfield Beach, Fla.) · 2026Review
- Label-free microcargo delivery and controllable release in complex fluidic environments based on autonomous magnetic microswarm.Microsystems & nanoengineering · 2026Article
- Magnetic medical microrobots with memory-capable genetic circuits.Science advances · 2026Article
- Miniaturized 3D Magnetic Force Sensor via Laser-Assisted Folding and Magnetization for Enhanced Robotic Dexterity.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Fluoroscopic control of a magnetorobotic capsule for precision gastrointestinal sampling and delivery.iScience · 2026Article
- Microrobotic copper-rich electrochemical interfacing for targeted cancer theranostics in the gut.Science advances · 2026Article
- Unsegmented marine annelids as biomechanical models for soft robotics.Scientific reports · 2026Article
- Physiologically Adaptive Soft Millirobot for Atraumatic Endovascular Therapy.Advanced functional materials · 2026Article
- Bio-Inspired Micro-Fin-Assisted Multi-Modal Vascular Intervention.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Physical Intelligence in Small-Scale Robots and Machines.Advanced materials (Deerfield Beach, Fla.) · 2026Review
- Microscale Architectures for Intelligent Soft Robotics: From Functional Microneedles to Biointegrated Wearable Systems.Nano-micro letters · 2026Review
- In situ mechanostimulation of biohybrid millirobots for enhanced cell functionality and delivery.Science advances · 2026Article
- Multifunctional and Reprogrammable Magnetoactive Graphene Oxide Origami.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Magnetically actuated momentum-driven millirobots.Nature communications · 2025Article
- Spatiotemporally programmed dielectric liquid crystal elastomer: Electro-reversible 3D morphing via inverse 4D printing.Science advances · 2025Article
- Physiologically Adaptive Soft Millirobot for Atraumatic, Image-Guided Endovascular Therapy.Research square · 2025Article
- Stable magnetic soft structures.Science advances · 2025Article
35 more citing papers are in PubMed but not listed here.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
7 authors.
Funding
Abstract
Small-scale soft-bodied machines that respond to externally applied magnetic field have attracted wide research interest because of their unique capabilities and promising potential in a variety of fields, especially for biomedical applications. When the size of such machines approach the sub-millimeter scale, their designs and functionalities are severely constrained by the available fabrication methods, which only work with limited materials, geometries, and magnetization profiles. To free such constraints, here, we propose a bottom-up assembly-based 3D microfabrication approach to create complex 3D miniature wireless magnetic soft machines at the milli- and sub-millimeter scale with arbitrary multimaterial compositions, arbitrary 3D geometries, and arbitrary programmable 3D magnetization profiles at high spatial resolution. This approach helps us concurrently realize diverse characteristics on the machines, including programmable shape morphing, negative Poisson's ratio, complex stiffness distribution, directional joint bending, and remagnetization for shape reconfiguration. It enlarges the design space and enables biomedical device-related functionalities that are previously difficult to achieve, including peristaltic pumping of biological fluids and transport of solid objects, active targeted cargo transport and delivery, liquid biopsy, and reversible surface anchoring in tortuous tubular environments withstanding fluid flows, all at the sub-millimeter scale. This work improves the achievable complexity of 3D magnetic soft machines and boosts their future capabilities for applications in robotics and biomedical engineering.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.