One‐Step Printing of Heterogeneous 3D Soft Magnetic Machines

Abstract The ability to integrate materials with heterogeneous properties into a soft magnetic machine is important to expand its applications to various emerging fields. However, the lack of an efficient fabrication method limits the design‐ability of multi‐material soft magnetic machines with complex shapes. Here, a 3D printing strategy is reported to fabricate versatile multi‐material soft magnetic machines with heterogeneous mechanical and magnetic properties. Using a supporting matrix, different elastomeric inks can be co‐printed into 3D architectures with well‐merged interfaces, in a one‐step process. Multi‐material grippers, leapers, and rollers are shown that can perform motion and deformation patterns that are challenging for 2D or single‐material structures. This facile approach expands the material and structural design space of soft magnetic machines for future soft robotic and biomedical applications.