The Polymer Society of Korea

Abstract

Soft robotic systems offer distinct advantages in delicate manipulation and confined-space navigation. However, their inherent nonlinear viscoelasticity poses significant challenges for precise control. Here, we present a materials-by-design strategy that uses magnetic anisotropy in soft composites to enable directionally resolved sensing and actuation. By aligning functional nanomaterials within the polymer matrix via external magnetic fields, we program specific structural anisotropies that impart vector-aware mechanoperception capabilities to the composite. This field-programmed architecture ensures high responsiveness and signal selectivity under deformation, distinct from isotropic counterparts. Furthermore, we demonstrate programmable soft origami actuators capable of multi-modal shape morphing under physical stimuli. The integration of these sensing elements facilitates real-time monitoring and closed-loop autonomy for untethered soft robotic systems.