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This 20 mm long robot features a streamlined form and magnetically programmable movements, enabling biomimetic locomotion patterns such as straight\u2010line swimming and turning swimming. The robot includes a silicone\u2010based torso (body, abdomen, and pectoral fin) and a crescent\u2010shaped tail fin made from a magnetically programmable polymer embedded with neodymium\u2010iron\u2010boron (NdFeB) particles. The tail fin, fabricated by multi\u2010material alternating printing to achieve a gradient magnetism distribution, is controlled by an external magnetic field to mimic the rapid oscillation of a swordfish's tail, achieving a swimming speed of 0.51\u2009BL\/\u2009s. The tail fin's asymmetric oscillation amplitudes, adjusted by magnetic field control, allow the robot to transition seamlessly from high\u2010speed straight swimming to agile turning. The robot can perform tracking swimming along specific planned paths, such as \u201cC\u201d and \u201cZ\u201d shaped trajectories. Potential applications include environmental monitoring and targeted drug release. The multi\u2010material 3D printing technology enhances the robot's efficiency and sensitivity in simulating natural biological movements, extending to the design and development of various flexible devices and soft robots.<\/jats:p>","DOI":"10.1002\/aisy.202400206","type":"journal-article","created":{"date-parts":[[2024,7,8]],"date-time":"2024-07-08T07:15:40Z","timestamp":1720422940000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["3D Printed Swordfish\u2010Like Wireless Millirobot"],"prefix":"10.1002","volume":"7","author":[{"given":"Xingcheng","family":"Ou","sequence":"first","affiliation":[{"name":"Guangzhou Key Laboratory of Flexible Electronic Materials and Wearable Devices Key Laboratory for Polymeric Composite and Functional Materials of Ministry of Education State Key Laboratory of Optoelectronic Materials and Technologies School of Materials Science and Engineering Sun Yat\u2010sen University  Guangzhou 510275 P. 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