{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,14]],"date-time":"2025-10-14T07:12:25Z","timestamp":1760425945768,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2021,3,11]],"date-time":"2021-03-11T00:00:00Z","timestamp":1615420800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52073032","61904013","51872031"],"award-info":[{"award-number":["52073032","61904013","51872031"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>There are numerous works that report wirelessly controlling the locomotion of soft robots through a single actuation method of light or magnetism. However, coupling multiple driving modes to improve the mobility of robots is still in its infancy. Here, we present a soft multi-legged millirobot that can move, climb a slope, swim and detect a signal by near-infrared irradiation (NIR) light or magnetic field dual actuation. Due to the design of the feet structure, our soft millirobot incorporates the advantages of a single actuation mode of light or magnetism. Furthermore, it can execute a compulsory exercise to sense a signal and analyze the ambience fluctuation in a narrow place. This work provides a novel alternative for soft robots to achieve multimode actuation and signal sensing.<\/jats:p>","DOI":"10.3390\/s21061972","type":"journal-article","created":{"date-parts":[[2021,3,11]],"date-time":"2021-03-11T20:17:40Z","timestamp":1615493860000},"page":"1972","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Polymeric Bilayer Multi-Legged Soft Millirobot with Dual Actuation and Humidity Sensing"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6747-5786","authenticated-orcid":false,"given":"Shidai","family":"Tian","sequence":"first","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"},{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shijie","family":"Li","sequence":"additional","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"},{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yijie","family":"Hu","sequence":"additional","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"},{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1702-1919","authenticated-orcid":false,"given":"Wei","family":"Wang","sequence":"additional","affiliation":[{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"},{"name":"College of Nanoscience and Technology, University of Chinese Academy of Science, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aifang","family":"Yu","sequence":"additional","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"},{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"},{"name":"College of Nanoscience and Technology, University of Chinese Academy of Science, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lingyu","family":"Wan","sequence":"additional","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8900-4638","authenticated-orcid":false,"given":"Junyi","family":"Zhai","sequence":"additional","affiliation":[{"name":"Center on Nanoenergy Research, School of Physical Science and Technology, Guangxi University, Nanning 530004, China"},{"name":"CAS Center for Excellence in Nanoscience, Beijing Key Laboratory of Micro-nano Energy and Sensor, Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 100083, China"},{"name":"College of Nanoscience and Technology, University of Chinese Academy of Science, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,11]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"Calisti, M., Picardi, G., and Laschi, C. 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