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.