Magnetic Miniature Soft Robot with Mechanically Intelligent Multimodal Locomotion

Miniature robots are untethered devices capable of reaching confined spaces inaccessible to conventional robots, offering transformative potential for biomedical applications such as minimally invasive surgery, targeted drug delivery, and localised therapies. Magnetic actuation is particularly well-suited for in vivo use due to its safe tissue penetration, non-invasive control, and high dexterity. However, navigating complex, unstructured biological environments remains challenging, as current multimodal locomotion strategies rely on external sensing, which cannot capture essential non-geometric cues like fluid flow or surface softness. This project aims to develop a mechanically intelligent magnetic miniature soft robot capable of autonomously switching gaits under a single actuation input. By embedding intelligence into its magnetisation profile, geometry, and surface properties, the robot will respond adaptively to environmental changes without external sensors or computation. This approach promises enhanced autonomy, reduced system complexity, and improved reliability, advancing the capabilities of miniature robotics for demanding biomedical applications