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With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.<\/jats:p>","DOI":"10.1126\/scirobotics.abo4401","type":"journal-article","created":{"date-parts":[[2022,8,31]],"date-time":"2022-08-31T17:57:12Z","timestamp":1661968632000},"source":"Crossref","is-referenced-by-count":74,"title":["Magnetically actuated gearbox for the wireless control of millimeter-scale robots"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0739-7552","authenticated-orcid":true,"given":"Chong","family":"Hong","sequence":"first","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."},{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0824-1805","authenticated-orcid":true,"given":"Ziyu","family":"Ren","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."},{"name":"Institute for Biomedical Engineering, ETH Z\u00fcrich, 8092 Z\u00fcrich, Switzerland."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5382-7106","authenticated-orcid":true,"given":"Che","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1685-6052","authenticated-orcid":true,"given":"Mingtong","family":"Li","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4263-2888","authenticated-orcid":true,"given":"Yingdan","family":"Wu","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2231-9499","authenticated-orcid":true,"given":"Dewei","family":"Tang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3457-821X","authenticated-orcid":true,"given":"Wenqi","family":"Hu","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8249-3854","authenticated-orcid":true,"given":"Metin","family":"Sitti","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."},{"name":"Institute for Biomedical Engineering, ETH Z\u00fcrich, 8092 Z\u00fcrich, Switzerland."},{"name":"School of Medicine and College of Engineering, Ko\u00e7 University, 34450 Istanbul, Turkey."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2073030"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915583539"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1608193113"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature25443"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abh2022"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.bsbt.2016.05.001"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1080\/13645700009169654"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature22382"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201906766"},{"key":"e_1_3_2_11_2","unstructured":"M. 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