Magnetically Steered Soft Robots Made by Photopolymerisation: Magnetic Programming, Mechanics and Navigation

Magnetically steered soft robots combine distributed magnetic material with compliant structures so that external fields generate torque, force and programmed shape change without onboard wiring. Photopolymerisation can fabricate fine geometries and spatially varying mechanics, but magnetic filler dispersion, orientation, cure and post-magnetization determine the actual magnetic state. Navigation performance therefore cannot be qualified from geometry or field strength alone. A complete evidence set includes the magnetization vector or moment distribution, mechanical stiffness, applied field and gradient, pose tracking, contact state and cycle-dependent repeatability. The engineering output is a qualified magnetic programming map, an external field and gradient operating envelope, and a navigation accuracy or force margin for the intended fluid, tissue analogue or constrained path. ER-376.