Fig. 1: Illustrative summary.

a Representation of the bulk magnetization configuration of a helical or conical phase slightly misaligned with the surface and the corresponding measured stray-field of surface stripes. b Representation of the bulk magnetization and measured stray-field image of a tilted spiral phase. c Representation of the bulk magnetization and measured stray-field of a low-temperature skyrmion phase. d Illustration of stray-field imaging with a SQUID-on-tip. e Illustration of skyrmion displacement by a charged SQUID-on-tip.