Magnetic soft actuators: magnetic soft robots from macro- to nanoscale

In this chapter, we make the very first attempt to apply concepts of curvilinear magnetism to the active research field of magnetic soft actuators and, in particular, magnetic soft robots. Specifically, we describe the interplay between the mechanical and magnetic degrees of freedom in mechanically flexible materials. The discussion starts with the common approach based on the analysis of the balance of magnetic and mechanical forces and torques to describe the actuation behavior and performance of mechanically soft magnetic thin films, wires and ribbons. The framework of curvilinear magnetism is then applied to provide an intuitive physical picture of a complex behavior of actuators possessing a complex magnetic texture.