Fig. 5: Demonstration of smart textiles based on MR fabrics.

a, Fabric linear actuator with 5 mm stroke enabled by woven MR fabrics in a four-sided Sarrus linkage. b, Force–stroke relationship of the actuator under specific magnetic field strengths. c, Structure and working principle of the active ventilation fabric driven by the linear actuator. d, Water vapour permeability of the active ventilation fabric under square-wave actuation at selected frequencies with a peak field of 250 mT. Error bars correspond to s.d. (n = 3). e, Conformal gripper using cut-pile MR fabrics on coaxial electromagnets mounted on a robotic arm with six degrees of freedom. f, Close-up of the gripper holding a live worm (1 A input current). g, Untethered haptic finger glove remotely controlled by the mobile magnetic actuation system for haptic feedback. h, Schematic showing the positional and orientational relationship between the finger wearing the MR finger glove and the coaxial electromagnet pair for kinaesthetic feedback. Misalignment between the magnetic field and the finger axis, defined by angle λ, generates a moment (M) on the MR woven fabric. i, At λ = 60°, triangular currents (3 A peak) at 0.2 Hz, 0.5 Hz and 1 Hz were applied to the electromagnet pair, and the resulting output moment of the MR finger glove was measured. j, Schematic showing the MR finger glove with the fingertip pressing on a flat surface to mimic touch. A magnetic field applied perpendicular to the finger axis activates the cut-pile MR fabric under the fingertip, producing a normal force (F). k, At λ = 90°, triangular currents (3 A peak) at 0.2 Hz, 0.5 Hz and 1 Hz were applied to the electromagnet pair, and the resulting output force of the MR finger glove was measured. Scale bars, 5 mm (a); 2 cm (e,f,g).

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