Fig. 4: Controllable deformation of liquid metal magnetic soft robot (LMMSR).

A The viscosity of pure LM, EGaIn-5% FPA (100 mM) and EGaIn-10% FPA (100 mM). The insert optical photos show the appearance of liquid metal composites. B Storage modulus and complex viscosity of pure LM and LMMSRs with different FPA (100 mM) mass ratios under various frequencies. C Aspect ratios measured from EGaIn-1% FPA (100 mM), EGaIn-3% FPA (100 mM), and EGaIn-5% FPA (100 mM) under different external magnetic fields. All values represent the mean ± SD for n = 3 independent experiments. D Phase diagram showing passive deformation capacities of LMMSRs with the variation of FPA (100 mM) mass ratio and distance between permanent magnet (NdFeB, N52, 24 mm by 24 mm by 12 mm) and LMMSR. Zone 1 represents that the LMMSR can pass relatively narrow channels with a deformation degree of 40–70%, zone 2 represents that the LMMSR can pass relatively wide channels with a deformation degree < 40%, and the LMMSR can not pass channels in zone 3. The middle optical images and the right illustrations show the behaviors of LMMSRs in narrow slits with different widths. E Active deformation of LMMSRs under the actuation of permanent magnets with rectangular, annular, and triangle shapes, where the simulation results demonstrate the magnetic field distribution on the plane 1 mm above magnets. Source data are provided as a Source Data file.