Fig. 5: Large magnetic tweezers from self-folding MaSoChain.
From: Self-folding soft-robotic chains with reconfigurable shapes and functionalities
a, b The design and structure diagram of a large magnetic tweezer using a self-folding MaSoChain. c The folding process of the magnetic tweezer. The complete folding process can be seen in Supplementary Movie 4. The scale bar is 1 cm. d Demonstration of targeted cargo transport in a plastic stomach model. The demonstration is composed of four steps (see panel d), and the gripping motion is actuated by manually moving a large NdFeB magnet (see Methods). The full demonstration can be seen in Supplementary Movie 4.
