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Here, we present a jellyfish-inspired magnetic soft robot (J-MSR) capable of ultrafast swimming and seamless multimodal motion transitions in liquid environments. By employing an asymmetric trapezoidal magnetic field waveform for actuation, the J-MSR capitalizes on spatial and temporal asymmetries during its swimming cycle, mimicking the natural propulsion mechanism of jellyfish. Through magnetic-fluid-solid multiphysical field coupling analysis and magnetic field waveform optimization, the J-MSR achieves a remarkable swimming speed of 14.85 body lengths per second, demonstrating notably enhanced propulsion performance compared with previously reported jellyfish-inspired robots. Unlike traditional designs relying on auxiliary buoyancy structures, the J-MSR demonstrates versatile multimodal motions under natural negative buoyancy conditions, including large-angle multidirectional swimming (0\u00b0 to 122\u00b0), slit traversal, and rolling. Meanwhile, its exceptional locomotion capabilities facilitate the integration of functional devices, enabling it to perform diverse tasks such as emitting light to mimic fluorescent jellyfish, capturing objects, injecting microneedles, and conducting gastroscopy. These capabilities highlight the J-MSR\u2019s substantial potential as a versatile platform for biomedical applications in confined and unstructured environments.<\/jats:p>","DOI":"10.34133\/cbsystems.0540","type":"journal-article","created":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T06:51:52Z","timestamp":1770360712000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":5,"title":["Jellyfish-Inspired Ultrafast and Versatile Magnetic Soft Robots for Biomedical Applications"],"prefix":"10.34133","volume":"7","author":[{"given":"Yuxuan","family":"Sun","sequence":"first","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"Department of Mechanical Engineering, \rUniversity of California, Berkeley, Berkeley, CA 94704, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruiqi","family":"Liu","sequence":"additional","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chiyuan","family":"Ma","sequence":"additional","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingyang","family":"Liu","sequence":"additional","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Semina","family":"Yi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, \rUniversity of California, Berkeley, Berkeley, CA 94704, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junnan","family":"Gu","sequence":"additional","affiliation":[{"name":"Department of Thoracic Surgery, Union Hospital, Tongji Medical College, \rHuazhong University of Science and Technology, Wuhan 430022, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liangyu","family":"Xia","sequence":"additional","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haitao","family":"Qing","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, \rUniversity of California, Berkeley, Berkeley, CA 94704, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kailin","family":"Cai","sequence":"additional","affiliation":[{"name":"Department of Gastrointestinal Surgery, Union Hospital, Tongji Medical College, \rHuazhong University of Science and Technology, Wuhan 430022, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liang","family":"Li","sequence":"additional","affiliation":[{"name":"Wuhan National High Magnetic Field Center, \rHuazhong University of Science and Technology, Wuhan 430074, China."},{"name":"School of Electrical and Electronic Engineering, \rHuazhong University of Science and Technology, Wuhan 430074, 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Sensors Actuators A Phys. 2025;396: Article 117167.","journal-title":"Sensors Actuators A Phys"}],"container-title":["Cyborg and Bionic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/spj.science.org\/doi\/pdf\/10.34133\/cbsystems.0540","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T08:22:07Z","timestamp":1775204527000},"score":1,"resource":{"primary":{"URL":"https:\/\/spj.science.org\/doi\/10.34133\/cbsystems.0540"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,1]]},"references-count":48,"alternative-id":["10.34133\/cbsystems.0540"],"URL":"https:\/\/doi.org\/10.34133\/cbsystems.0540","relation":{},"ISSN":["2692-7632"],"issn-type":[{"value":"2692-7632","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,1]]},"assertion":[{"value":"2025-11-28","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-05","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-02-04","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-04-03","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"0540"}}