Fig. 4: Functional demonstration of MRSM substrates for responsive 3D structure assembly.

a Schematic showing fabrication of a buckled 3D structure driven by a magnetically responsive MRSM substrate. b–e Schematic of four types of magnetization patterns in a MRSM substrate, FEA prediction, and optical images of buckled 3D structures with different buckling heights (b–d) and a twisted 3D structure (e). The polyimide (PI) film was treated by fluorescent dye to facilitate the observation. f, g Two representative PI patterns, schematic of magnetization patterns of a MRSM substrate, and optical images of buckled 3D structures. Red dots indicate the bonding sites between PI films and MRSM substrates. Red arrows indicate the directions of the actuation magnetic field of 150 mT. Scale Bars: 5 mm.