Abstract
Magnetic soft robots offer considerable potential across various scenarios, such as biomedical applications and industrial tasks, because of their shape programmability and reconfigurability, safe interaction and biocompatibility(1-4). Despite recent advances, magnetic soft robots are still limited by the difficulties in reprogramming their required magnetization profiles in real time on the spot (in situ), which is essential for performing multiple functions or executing diverse tasks(5,6). Here we introduce a method for real-time in situ magnetization reprogramming that enables the rearrangement and recombination of magnetic units to achieve diverse magnetization profiles. We explore the applications of this method in structures of varying dimensions, from one-dimensional tubes to three-dimensional frameworks, showcasing a diverse and expanded range of configurations and their deformations. This method also demonstrates versatility in diverse scenarios, including navigating around objects without undesired contact, reprogramming cilia arrays, managing multiple instruments cooperatively or independently under the same magnetic field, and manipulating objects of various shapes. These abilities extend the range of applications for magnetic actuation technologies. Furthermore, this method frees magnetic soft robots from the sole reliance on external magnetic fields for shape change, facilitating unprecedented modes and varieties of deformation while simultaneously reducing the need for complex magnetic field generation systems, thereby opening avenues for the development of magnetic actuation technologies.