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Although diverse materials and designs have been proposed for magnetic soft robots with programmable shape transformation, it is still challenging to produce strong actuation by a small magnetic field. Inspired by arthropod species, magnetic soft millirobots with joint structures by 3D printing hydrogels have been developed. The joints can turn the bending deformation into the folding deformation, with the jointed region deforming locally. Different from homogeneous bending deformation, such local deformation allows larger motions of robots and reduces the overall energy consumption at the same time. Through experiments and numerical simulations, it is shown that the magnetic arthropod millirobots are capable of performing multimodal locomotion and programmed shape transformation, such as move, flip, catch, carry, and release. Finally, ex vivo experiments of removing a foreign object from porcine organs (e.g., aorta, stomach, and intestine) are presented to demonstrate the potential surgery application of magnetic arthropod millirobots.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100139","type":"journal-article","created":{"date-parts":[[2021,10,21]],"date-time":"2021-10-21T06:38:43Z","timestamp":1634798323000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":92,"title":["Magnetic Arthropod Millirobots Fabricated by 3D\u2010Printed Hydrogels"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7852-2920","authenticated-orcid":false,"given":"Bonan","family":"Sun","sequence":"first","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rong","family":"Jia","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hang","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xi","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Tan","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qian","family":"Deng","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Engineering Structural Analysis and Safety Assessment Department of Engineering MechanicsSchool of Aerospace Engineering Huazhong University of Science and Technology  Wuhan 430074 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4264-6371","authenticated-orcid":false,"given":"Jingda","family":"Tang","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University  Xi'an 710049 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,10,19]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202010918"},{"key":"e_1_2_8_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax7329"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc8191"},{"key":"e_1_2_8_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202004975"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0001-3"},{"key":"e_1_2_8_4_2","doi-asserted-by":"publisher","DOI":"10.1088\/2399-7532\/abcb0c"},{"key":"e_1_2_8_4_3","doi-asserted-by":"publisher","DOI":"10.1088\/2516-1091\/ab22d5"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2022090118"},{"key":"e_1_2_8_5_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-10549-7"},{"key":"e_1_2_8_5_3","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-12679-4"},{"key":"e_1_2_8_5_4","first-page":"188","author":"Qi S.","year":"2020","journal-title":"Compos. 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