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With remote manipulation, controlled navigation of robots can be realized within hard\u2010to\u2010access spaces for potential use in the human body. Existing magnetic miniature soft robots using digital light processing are fabricated from planar sheets, and thus have limited shape transformations and locomotive behaviors. Herein, a multilayer 3D printing method is reported for patterning magnetic nanoparticles in ultraviolet (UV)\u2010curable polymer matrix. Various multilayer 3D structures within 10\u2009mm in overall size are fabricated with controlled volumes at different parts, which outperform 2D folded shapes in terms of robustness and kinematic flexibility. By programming heterogeneous magnetization within discrete multilayer robot segments, magnetic torque\u2010induced shape changes including gripping, rolling, swimming, and walking are induced by a global actuation field. Stacked design features with minimum dimension of 200\u2009\u03bcm and encoded magnetization with resolution of 350\u2009\u03bcm can be realized in the printing process. Meanwhile, enhanced deformation flexibility and formation of orientation\u2010anchoring mechanisms are created by integrating multiple materials with distinct mechanical and magnetic properties, respectively, which enables the creation of versatile 3D multi\u2010material actuators.<\/jats:p>","DOI":"10.1002\/aisy.202300052","type":"journal-article","created":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T23:35:58Z","timestamp":1682984158000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":38,"title":["3D Printing of Multilayer Magnetic Miniature Soft Robots with Programmable Magnetization"],"prefix":"10.1002","volume":"6","author":[{"given":"Zhaoxin","family":"Li","sequence":"first","affiliation":[{"name":"Department of Mechanical and Industrial Engineering University of Toronto  170 College Street Toronto M5S 3E3 Canada"}]},{"given":"Yung Priscilla","family":"Lai","sequence":"additional","affiliation":[{"name":"Department 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