A multi-directional mobile magnetically controlled soft robot based on magnetic field control and its preparation and driving method

Abstract

The present invention relates to a multi-directional mobile magnetically controlled soft robot based on magnetic field control, and a preparation and driving method thereof. The magnetic unit in the center area of the robot is made of a cylindrical magnet embedded in an Ecoflex‑30 elastomer, and the four magnetic units around it are formed by curing after mixing NdFeB magnetic powder with Ecoflex‑30, and are formed into magnetic units with a single horizontal magnetic moment direction by horizontal magnetization. The magnetic units around the robot are adhered to the sides of the magnetic unit in the center area through the Ecoflex‑30 colloid to form a flexible connection. The robot can achieve movement in four directions: front, back, left, and right through precise control of the external magnetic field. The magnetically controlled soft robot provided by the invention has a simple structure, flexible movement ability and an efficient driving method.

Description

Technical Field

[0001] The present invention belongs to the technical field of soft robots, and in particular relates to a multi-directional mobile magnetically controlled soft robot based on magnetic field control, and a preparation and driving method thereof. Background Art

[0002] As a new type of flexible and adaptable robotic technology, soft robots show great potential in fields such as micromanipulation, medical treatment, exploration, and repair. Compared with traditional rigid robots, soft robots can adapt to complex environments through their flexible deformation and operate in confined spaces, on delicate objects, or on irregular surfaces. However, existing soft robots typically rely on pneumatic, electric, or hydraulic drive systems, which are complex, bulky, and require external energy, limiting their application in miniaturization and lightweighting. With the deepening research on magnetic materials in soft robots, magnetically controlled soft robots based on magnetic field control have gradually become an important research direction. Magnetically controlled soft robots achieve motion control by manipulating the magnetic response of materials using external magnetic fields, eliminating the need for traditional drive systems. They feature high reliability, simple structure, and strong flexibility, making them particularly suitable for applications requiring high flexibility and adaptability. In the medical field, the development of technologies such as minimally invasive surgery, targeted therapy, and in vivo diagnostics has placed higher demands on the flexibility and safety of medical equipment. While traditional rigid robots (such as surgical robotic arms and endoscopes) offer advantages in precision and stability, their rigid structures can easily cause tissue damage or patient discomfort in narrow cavities of the human body (such as blood vessels, the gastrointestinal tract, and bronchi). For example, in vascular interventional surgery, existing guidewires and catheters rely on manual manipulation and lack multi-degree-of-freedom motion capabilities, making them difficult to flexibly maneuver through complex vascular branches and posing a risk of vascular perforation. During gastrointestinal examinations, the rigid catheters of traditional endoscopes can cause mucosal abrasions and have difficulty penetrating narrow, long, and tortuous areas such as the small intestine. In targeted drug delivery, passively diffusing nanoparticle drug delivery systems lack autonomous motion, making it difficult to accurately locate lesions in dynamic blood flow or mucus. During postoperative repair, rigid stents can easily trigger inflammatory reactions or displacement, and cannot dynamically conform to the site of tissue damage.

[0003] Although existing magnetically controlled soft robotics technology provides a potential solution to the above-mentioned problems, its design is mostly limited to simple linear motion and single-degree-of-freedom control. For example, under magnetic field control, the robot can achieve basic movement by rolling or unidirectional bending, but in dynamic anatomical environments (such as tissue displacement caused by heartbeat and breathing), its motion accuracy and adaptability are significantly reduced. In addition, complex magnetic field control systems (such as multi-axis coil collaborative control) increase the difficulty of clinical operation and limit practical applications. Specifically, there are: insufficient degrees of freedom of movement, making it difficult to coordinate movement in multiple directions to adapt to complex terrain such as vascular bifurcations or intestinal folds; low drive efficiency, in viscous body fluids or dynamic physiological environments, simple magnetic drive strategies are easily disturbed by resistance, resulting in motion stagnation or deviation; limited biocompatibility, some magnetic materials or drive structures may induce rejection reactions in the body, and long-term safety has not yet been verified.

[0004] To address these critical medical needs and existing technological bottlenecks, a solution combining high flexibility, multi-degree-of-freedom motion, and non-invasive actuation is urgently needed. This paper proposes a soft robot design based on multi-directional magnetic control. By utilizing a cross-shaped magnetic unit layout and a coordinated magnetic field control strategy, it overcomes the limitations of existing technologies and provides a highly adaptable, low-invasive innovative solution for the medical field. Summary of the Invention

[0005] To address the above problems, the present invention proposes a magnetically controlled soft robot with a cross-shaped structure composed of five magnetic units. By rationally designing the magnetic moment direction and structural layout of each magnetic unit and combining it with precise control of the external magnetic field, it can effectively realize multiple motion modes, including movement in four directions: forward, backward, left, and right.

[0006] The present invention provides a multi-directional mobile magnetically controlled soft robot based on magnetic field control. The magnetically controlled soft robot is composed of a cube-shaped central magnetic unit and four cube-shaped surrounding magnetic units bonded by an elastic body to form a flexible cross-shaped structure.

[0007] The central region magnetic unit is formed by embedding a cylindrical magnetic block into an elastic body, with the magnetic moment direction perpendicular to the horizontal plane and upward;

[0008] The peripheral magnetic units are formed by mixing magnetic powder and elastomer, solidifying and horizontally magnetizing, and the direction of the magnetic moment points to the central area along the horizontal plane.

[0009] Preferably, the movement mode of the soft robot is as follows:

[0010] In the horizontal plane, the physical structure and magnetic moment direction of the four surrounding magnetic units are symmetrical, the forces acting on them are balanced, and the deformations produced in response to changes in the magnetic field perpendicular to the horizontal plane are also the same. Under the influence of changes in the vertical magnetic field, the soft robot moves up and down in place;

[0011] The magnetic moment direction of the central area magnetic unit responds to the change of the magnetic field in the horizontal plane, generating a rotational deformation with the center point of the central area magnetic unit as the axis, so that the surrounding magnetic units on one side of the central area magnetic unit are lifted and the surrounding magnetic units on the other side are depressed; the lifted surrounding magnetic units push the depressed surrounding magnetic units when falling, thereby realizing creeping forward in the horizontal direction.

[0012] Preferably, the elastomer is Ecoflex-30 elastomer; and the magnetic powder is NdFeB magnetic powder.

[0013] The present invention also provides a driving method for a multi-directional mobile magnetically controlled soft robot based on magnetic field control, comprising the following steps:

[0014] A signal generator is used to generate a sinusoidal AC signal to excite the Z-axis Helmholtz coil, generating an alternating magnetic field in the Z-axis direction. During each alternating magnetic field cycle, under the action of the magnetic torque, the surrounding magnetic units are driven to perform a cyclic motion of "standing up"-"falling down"-"closing", thereby driving the central magnetic unit to perform periodic upward and downward motion;

[0015] A signal generator is used to output a DC signal to excite the Helmholtz coil of the X-axis in the horizontal direction, so that it generates a uniform magnetic field in the X-axis direction;

[0016] The cylindrical magnetic block in the central area magnetic unit is deflected in the X-axis direction under the action of the uniform magnetic field in that direction, so that the two surrounding magnetic units arranged relatively in that direction are subjected to uneven force, driving the soft robot to move in the X-axis direction.

[0017] In order to optimize the moving speed, the present invention also proposes a driving method for a multi-directional magnetically controlled soft robot based on magnetic field control, comprising the following steps:

[0018] A signal generator is used to generate a half-wave AC signal to excite the Z-axis Helmholtz coil, generating an alternating magnetic field in the Z-axis direction. During each alternating magnetic field cycle, under the action of the magnetic torque, the surrounding magnetic units are driven to perform a "stand up" and "fall down" cycle, thereby driving the central magnetic unit to perform periodic upward and downward movement;

[0019] A signal generator is used to output a DC signal to excite the Helmholtz coil of the X-axis in the horizontal direction, so that it generates a uniform magnetic field in the X-axis direction;

[0020] The cylindrical magnetic block in the central area magnetic unit is deflected in the X-axis direction under the action of the uniform magnetic field in that direction, so that the two surrounding magnetic units arranged relatively in that direction are subjected to uneven force, driving the soft robot to move in the X-axis direction.

[0021] The present invention also provides a method for preparing a multi-directional mobile magnetically controlled soft robot based on magnetic field control, comprising the following steps:

[0022] S1. Preparation of a four-sided magnetic unit

[0023] S1.1, mix NdFeB magnetic powder with Ecoflex-30 elastomer;

[0024] S1.2. Stir with a mechanical stirrer to obtain a uniformly mixed colloid;

[0025] S1.3. Pour the mixed colloid into a cubic mold with the same length and width and a thickness smaller than the length and width, and heat and cure to obtain a composite elastic block;

[0026] S1.4. Use a magnetizer to radially magnetize the cured composite elastic block to form a magnetic unit with a single radial magnetic moment direction;

[0027] S2. Preparation of central region magnetic unit

[0028] S2.1. Pour pure Ecoflex elastomer into a cube mold of the same size as in S1.3.

[0029] S2.2. Embed a cylindrical magnet having a diameter smaller than the length and width of the cube mold and a height smaller than the thickness of the cube mold into the center of the uncured Ecoflex-30 elastomer;

[0030] S2.3, heating and curing to form a magnetic unit in the central area;

[0031] S3 assembly robot

[0032] S3.1. Keeping the magnetic moment of the central magnetic unit perpendicular to the horizontal plane and facing upward, adhere the sides of the surrounding magnetic units to the sides of the central magnetic unit using Ecoflex-30 elastomer, with the magnetic moments of the surrounding magnetic units pointing toward the central area.

[0033] S3.2. Heat and solidify to complete the assembly of the cross-shaped soft robot.

[0034] Preferably, in S1.2, the mechanical stirrer stirs at a speed of 1500 rpm for 10 minutes; in S1.3, the size of the cube mold is 10 mm×10 mm×1 mm; in S1.4, the pulse voltage of the magnetizer is 2400 V; in S2.2, the radius of the cylindrical magnet is 3 mm and the height is 0.5 mm. Beneficial effects

[0035] 1. Multi-degree-of-freedom motion capability: Through the design of five magnetic units and combined with the control of external magnetic fields, the robot can achieve coordinated movement in multiple directions, thus having strong multi-degree-of-freedom motion capability and being suitable for various task requirements.

[0036] 2. Simple and efficient drive system: The present invention does not rely on traditional pneumatic, electric or hydraulic drive systems. Instead, it realizes robot movement through changes in the external magnetic field, avoiding complex internal drive mechanisms and having higher reliability and simplicity.

[0037] 3. High Flexibility and Adaptability: The robot uses Ecoflex-30 as its primary material, which provides excellent flexibility and adaptability to complex terrain and confined spaces. The robot can perform tasks in complex environments, exhibits strong adaptability and precision, and features a simple and efficient manufacturing process, making it suitable for large-scale manufacturing.

[0038] 4. A more advantageous mode of movement: Compared with rolling movement, creeping movement has the advantages of lower space requirements and higher precision in motion control.

[0039] 5. Simple magnetic field control: No complex magnetic field drive strategies are required to control the soft robot's direction of travel. Simply by maintaining a half-wave magnetic field in the Z direction and changing the direction of the horizontal static magnetic field, the robot can achieve forward, backward, left, and right movement. This external magnetic field control enables precise motion control, making it suitable for a variety of fields, including medical assistance, micromanipulation, flexible sensing, and exploration and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 :Schematic diagram of the preparation process of the magnetic unit of the soft robot;

[0041] Figure 2 :Schematic diagram of soft robot assembly and magnetic moment distribution;

[0042] Figure 3 : a is a graph showing the relationship between the applied magnetic field on the Z axis and time; b is a graph showing the relationship between the applied magnetic field on the X or Y axis and time;

[0043] Figure 4 :Schematic diagram of the soft robot's deformation under X, Y, and Z axis magnetic fields;

[0044] Figure 5 : a is the actual picture of the soft robot moving in the +X direction; b is the actual picture of the soft robot moving in the -X direction; c is the actual picture of the soft robot moving in the +Y direction; d is the actual picture of the soft robot moving in the -Y direction. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] In the present invention, the Z axis is perpendicular to the horizontal plane, and the X axis and Y axis represent two axes perpendicular to each other in the horizontal plane, wherein the X axis is parallel to the horizontal direction in the cross-shaped structure of the magnetically controlled soft robot proposed in the present invention.

[0047] The present invention provides a multi-directional magnetically controlled soft robot. When the robot is in an extended state, the robot includes a central magnetic unit and magnetic units evenly distributed around it. The central magnetic unit and the surrounding magnetic units are assembled and formed by bonding Ecoflex. The magnetic units around the robot are all magnetized, and their magnetization directions are parallel to the plane where the arms are located when the robot is in an extended state, and are distributed radially toward the central magnetic unit. The central magnetic unit is formed by a cylindrical magnet embedded in an Ecoflex colloid, and the magnetization direction of the magnet is vertically upward.

[0048] In some embodiments, the magnetically controlled soft robot described herein is composed of micron-scale or smaller permanent magnetic materials, such as NdFeB magnetic particles, and elastomeric materials, such as silicone, TPE materials, and hydrogels. The magnetic unit of the multi-directional magnetically controlled soft robot described herein is a square structure, and when the robot is in an extended state, its entire cross-section is in contact with the ground.

[0049] The magnetically controlled soft robot of the present invention is composed of five cubic magnetic units forming a cross-shaped structure, wherein:

[0050] 1. The central magnetic unit is formed by embedding a cylindrical magnet into the Ecoflex-30 elastomer, with the magnetic moment direction perpendicular to the horizontal plane and upward;

[0051] 2. The surrounding magnetic units are formed by mixing, solidifying and horizontally magnetizing NdFeB magnetic powder and Ecoflex-30, with the magnetic moment direction pointing to the central area along the horizontal plane.

[0052] 3. Each unit is bonded together by Ecoflex-30 colloid to form a flexible connection structure.

[0053] The present invention also provides a method for preparing the multi-directional magnetically controlled soft robot, comprising the following steps:

[0054] S1. Preparation of four-sided magnetic unit

[0055] S1.1. Mix NdFeB magnetic powder and Ecoflex-30 in a certain mass ratio;

[0056] S1.2. Stir the mixture with a mechanical stirrer at 1500 rpm for 10 minutes to obtain a uniformly mixed colloid.

[0057] S1.3. Pour the mixed colloid into a cubic mold with dimensions of 10 mm × 10 mm × 1 mm and heat at 90°C for 10 minutes to cure.

[0058] S1.4. Use a magnetizer to horizontally magnetize the solidified composite elastic block at a pulse voltage of 2400 Ω to form a magnetic unit with a single horizontal magnetic moment direction.

[0059] S2. Preparation of central region magnetic unit

[0060] S2.1. Pour pure Ecoflex colloid into a cubic mold with dimensions of 10 mm × 10 mm × 1 mm.

[0061] S2.2. Embed a cylindrical magnet with a radius of 3 mm and a height of 0.5 mm into the uncured Ecoflex-30 colloid;

[0062] S2.3. Heat at 90°C for 10 minutes to solidify and form a magnetic unit in the central area.

[0063] S3 assembled cross-shaped multi-directional crawling robot

[0064] S3.1. Use Ecoflex-30 colloid to bond the surrounding magnetic units to the sides of the central magnetic unit, with the magnetic moments of the surrounding magnetic units pointing toward the central area.

[0065] S3.2. Heat at 90°C to solidify the Ecoflex-30 colloid and complete the assembly of the cross-shaped soft robot.

[0066] The multi-directional soft robot according to the present invention moves in a creeping manner, unlike most multi-directional soft robots that move in a tumbling manner. The creeping manner is based on the uneven force on the front and rear sides in the direction of movement. Generally speaking, if there is no cylindrical magnetic block in the central area, the deformation response of the surrounding magnetic units under the Z-axis magnetic field is basically the same due to the symmetry of the structure. At this time, the force on the four magnetic units is uniform, and the soft robot as a whole only deforms without displacement. Thanks to the introduction of the cylindrical magnetic block in the central area, the soft robot is subjected to uneven force in the direction of movement. The magnetic block with axial magnetic moment does not respond to the vertical magnetic field but responds to the horizontal magnetic field. After applying the X or Y direction magnetic field, the magnetic block deflects in that direction. At the same time, the magnetic unit in the same direction is depressed and the magnetic unit in the opposite direction is raised. The two magnetic units facing each other in this direction are subjected to uneven force. The raised magnetic unit pushes the depressed magnetic unit when falling, thereby achieving displacement in this direction.

[0067] The present invention also provides a method for controlling the magnetic field of the multi-directional soft robot, comprising the following steps: using a signal generator to generate a sinusoidal AC signal to excite the Z-axis Helmholtz coil, the Z-axis coil generates a half-wave alternating magnetic field in the Z-axis direction, and under the action of the magnetic torque, the surrounding magnetic units perform a cyclic motion of "standing up" and "falling down" within one cycle. At this time, the central magnetic unit performs an undulating motion under the action of the surrounding magnetic units. Then, a signal generator is used to output a DC signal to excite the X or Y axis coil in the horizontal direction, so that it generates a uniform magnetic field in the X or Y direction. Under the action of the horizontal magnetic field, the cylindrical magnetic block in the central area deflects in that direction, thereby generating uneven force in that direction, and the uneven force causes the soft robot as a whole to move in the direction of the applied magnetic field.

[0068] Preferably, the multidirectional soft robot's movement relies on the interaction between its surrounding magnetic units and the ground. When the surrounding magnetic units are "closing," the soft robot does not move. Excessive "closing" motions would slow the soft robot's movement. If a half-wave AC signal is used instead of a sine wave signal, the surrounding magnetic units only perform a "standing up"-"falling" cycle, constantly interacting with the ground, thereby increasing the soft robot's movement speed.

[0069] The present invention also provides a method for driving the multi-directional magnetically controlled soft robot to move in four directions, comprising the following steps: laying the soft robot flat on a work surface, applying a half-wave excitation alternating magnetic field in the Z-axis direction, causing the surrounding magnetic units to perform a "stand up"-"fall down" cyclic motion, then applying a +X-axis static magnetic field, causing the central area magnetic block to deflect in the +X direction, causing the magnetic units in the +X direction to be subjected to less force than the magnetic units in the -X direction. During the "falling" process, the magnetic units in the -X direction push the +X-direction magnetic units forward, completing the displacement in the +X direction. Similarly, if the horizontal static magnetic field is replaced with a -X-axis static magnetic field, the soft robot moves in the -X direction; if the horizontal static magnetic field is replaced with a +Y-axis static magnetic field, the soft robot moves in the +Y direction; and if the horizontal static magnetic field is replaced with a -Y-axis static magnetic field, the soft robot moves in the -Y direction.

[0070] The following are specific embodiments:

[0071] like Figure 2As shown, the center and surrounding magnetic units of this multi-directional magnetically controlled soft robot are 10mm squares. They are made from a uniformly solidified mixture of NdFeB particles and Ecoflex-30. The center region is a solidified Ecoflex colloid embedded with a cylindrical magnet with a radius of 3mm and a height of 0.5mm. The entire robot is 1mm thick. The magnetic units are magnetized parallel to the plane of the arms and radially toward the center. The central cylindrical magnet is magnetized vertically upward.

[0072] Lay the soft robot flat on the working plane and apply Figure 3 The half-wave excitation magnetic field shown in a, the surrounding magnetic units do a "stand up" - "fall down" cycle motion as shown in Figure 4 As shown, a static magnetic field in the +X axis is then applied, and the magnetic block in the central area deflects toward the +X direction, causing the magnetic unit in the +X direction to be subjected to a force smaller than that in the -X direction. During the "falling" process, the magnetic unit in the -X direction pushes the magnetic unit in the +X direction forward, completing the displacement in the +X direction. Figure 5 Similarly, the horizontal static magnetic field is replaced by the static magnetic field in the -X axis direction, and the soft robot moves in the -X direction as shown in a. Figure 5 As shown in b; the horizontal static magnetic field is replaced by the static magnetic field in the +Y axis direction, and the soft robot moves in the +Y direction as shown in Figure 5 As shown in c; the horizontal static magnetic field is replaced by the -Y axis static magnetic field, and the soft robot moves in the -Y direction as shown in Figure 5 As shown in d.

Claims

1. A driving method for a multi-directional mobile magnetically controlled soft robot based on magnetic field control, wherein the magnetically controlled soft robot is composed of a central magnetic unit in a cube shape and four peripheral magnetic units in a cube shape bonded together by an elastomer to form a flexible cross-shaped structure; the central magnetic unit is formed by embedding a cylindrical magnetic block in the elastomer, with the magnetic moment direction perpendicular to the horizontal plane and upward; the peripheral magnetic units are formed by mixing magnetic powder with the elastomer, solidifying and horizontally magnetizing, with the magnetic moment direction pointing to the central area along the horizontal plane; the movement mode of the soft robot is as follows: in the horizontal plane direction, the four peripheral magnetic units The physical structure and magnetic moment direction of the units are symmetrical, the forces acting on them are mutually balanced, and the deformations produced in response to changes in the magnetic field perpendicular to the horizontal plane are also the same. Under the action of changes in the vertical magnetic field, the soft robot moves up and down in situ; the magnetic moment direction of the magnetic unit in the central area responds to changes in the magnetic field in the horizontal plane, producing a rotational deformation with the center point of the magnetic unit in the central area as the axis, causing the surrounding magnetic units on one side of the magnetic unit in the central area to be lifted up and the surrounding magnetic units on the other side to be depressed; the lifted surrounding magnetic units push the depressed surrounding magnetic units when they fall, thereby achieving creeping forward in the horizontal direction; It is characterized in that The steps include: A signal generator is used to generate a sinusoidal AC signal to excite the Z-axis Helmholtz coil, generating an alternating magnetic field in the Z-axis direction. During each alternating magnetic field cycle, under the action of the magnetic torque, the surrounding magnetic units are driven to perform a cyclic motion of "standing up"-"falling down"-"closing", thereby driving the central magnetic unit to perform periodic upward and downward motion. A signal generator is used to output a DC signal to excite the Helmholtz coil of the X-axis in the horizontal direction, so that it generates a uniform magnetic field in the X-axis direction; The cylindrical magnetic block in the central area magnetic unit is deflected in the X-axis direction under the action of the uniform magnetic field in that direction, so that the two surrounding magnetic units arranged relatively in that direction are subjected to uneven force, driving the soft robot to move in the X-axis direction.

2. A driving method for a multi-directional mobile magnetically controlled soft robot based on magnetic field control, wherein the magnetically controlled soft robot is composed of a cube-shaped central magnetic unit and four cube-shaped peripheral magnetic units bonded together by an elastomer to form a flexible cross-shaped structure; the central magnetic unit is formed by embedding a cylindrical magnetic block into the elastomer, with the magnetic moment direction perpendicular to the horizontal plane and upward; the peripheral magnetic units are formed by mixing magnetic powder with the elastomer, solidifying and horizontally magnetizing, with the magnetic moment direction pointing to the central area along the horizontal plane; the movement mode of the soft robot is as follows: in the horizontal plane direction, the four peripheral magnetic units The physical structure and magnetic moment direction of the units are symmetrical, the forces acting on them are mutually balanced, and the deformations produced in response to changes in the magnetic field perpendicular to the horizontal plane are also the same. Under the action of changes in the vertical magnetic field, the soft robot moves up and down in situ; the magnetic moment direction of the magnetic unit in the central area responds to changes in the magnetic field in the horizontal plane, producing a rotational deformation with the center point of the magnetic unit in the central area as the axis, causing the surrounding magnetic units on one side of the magnetic unit in the central area to be lifted up and the surrounding magnetic units on the other side to be depressed; the lifted surrounding magnetic units push the depressed surrounding magnetic units when they fall, thereby achieving creeping forward in the horizontal direction; It is characterized in that The steps include: A signal generator is used to generate a half-wave AC signal to excite the Z-axis Helmholtz coil, generating an alternating magnetic field in the Z-axis direction. During each alternating magnetic field cycle, the magnetic torque drives the surrounding magnetic units to perform a "stand up"-"fall down" cycle, thereby driving the central magnetic unit to perform periodic upward and downward movement. A signal generator is used to output a DC signal to excite the Helmholtz coil of the X-axis in the horizontal direction, so that it generates a uniform magnetic field in the X-axis direction; The cylindrical magnetic block in the central area magnetic unit is deflected in the X-axis direction under the action of the uniform magnetic field in that direction, so that the two surrounding magnetic units arranged relatively in that direction are subjected to uneven force, driving the soft robot to move in the X-axis direction.

3. A driving method for a multi-directional magnetically controlled soft robot based on magnetic field control according to claim 1 or 2, characterized in that: The elastomer is specifically Ecoflex-30 elastomer; the magnetic powder is specifically NdFeB magnetic powder.

4. A preparation method of a multi-directional mobile magnetically controlled soft robot based on magnetic field control, wherein the magnetically controlled soft robot is composed of a cube-shaped central magnetic unit and four cube-shaped surrounding magnetic units bonded by an elastomer to form a flexible cross-shaped structure; the central magnetic unit is formed by embedding a cylindrical magnetic block into the elastomer, and the direction of the magnetic moment is perpendicular to the horizontal plane and upward; the surrounding magnetic units are formed by mixing magnetic powder with the elastomer, solidifying and horizontally magnetizing, and the direction of the magnetic moment is directed to the central area along the horizontal plane; the movement mode of the soft robot is as follows: in the horizontal plane direction, the four surrounding magnetic units The physical structure and magnetic moment direction of the units are symmetrical, the forces acting on them are mutually balanced, and the deformations produced in response to changes in the magnetic field perpendicular to the horizontal plane are also the same. Under the action of changes in the vertical magnetic field, the soft robot moves up and down in situ; the magnetic moment direction of the magnetic unit in the central area responds to changes in the magnetic field in the horizontal plane, producing a rotational deformation with the center point of the magnetic unit in the central area as the axis, causing the surrounding magnetic units on one side of the magnetic unit in the central area to be lifted up and the surrounding magnetic units on the other side to be depressed; the lifted surrounding magnetic units push the depressed surrounding magnetic units when they fall, thereby achieving creeping forward in the horizontal direction; It is characterized in that The steps include: S1. Preparation of a four-sided magnetic unit S1.1, mix NdFeB magnetic powder with Ecoflex-30 elastomer; S1.

2. Stir with a mechanical stirrer to obtain a uniformly mixed colloid; S1.

3. Pour the mixed colloid into a cubic mold with the same length and width and a thickness smaller than the length and width, and heat and cure to obtain a composite elastic block; S1.

4. Use a magnetizer to radially magnetize the cured composite elastic block to form a magnetic unit with a single radial magnetic moment direction; S2. Preparation of central region magnetic unit S2.

1. Pour pure Ecoflex elastomer into a cube mold of the same size as in S1.

3. S2.

2. Embed a cylindrical magnet having a diameter smaller than the length and width of the cube mold and a height smaller than the thickness of the cube mold into the center of the uncured Ecoflex-30 elastomer; S2.3, heating and curing to form a magnetic unit in the central area; S3 assembly robot S3.

1. Keeping the magnetic moment of the central magnetic unit perpendicular to the horizontal plane and facing upward, adhere the sides of the surrounding magnetic units to the sides of the central magnetic unit using Ecoflex-30 elastomer, with the magnetic moments of the surrounding magnetic units pointing toward the central area. S3.

2. Heat and solidify to complete the assembly of the cross-shaped soft robot.

5. The preparation method according to claim 4, wherein: In S1.2, the mechanical stirrer stirred at a speed of 1500 rpm for 10 minutes; In S1.3, the size of the cube mold is 10 mm × 10 mm × 1 mm; In S1.4, the pulse voltage of the magnetizer is 2400V; In S2.2, the radius of the cylindrical magnet is 3 mm and the height is 0.5 mm.

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