Material-Level Integration of Magnetic Actuation and Triboelectric Sensing for Adaptive Soft Robotic Platforms

Abstract

The seamless integration of actuation and sensing within materials is essential for developing compact, autonomous, and adaptive robotic systems. However, existing approaches often rely on modular assemblies or multilayer structures, leading to increased bulk, fabrication complexity, and limited integration density. Herein, a magnetically augmented structural platform is introduced for triboelectric-nanogenerator sensing and actuation (MASTA) that combines magnetic-field-induced actuation with enhanced triboelectric tactile sensing through physically distinct mechanisms. It employs a high concentration of neodymium-based magnetic particles embedded in an elastomer matrix, which enhances the triboelectric output through increased dielectric constant, magnetoelectric coupling, and magnetizing currents while enabling programmable magnetic actuation. The experimental results demonstrate significant improvements in the triboelectric performance, achieving a 325% voltage increase compared with pristine systems, while exhibiting substantial magnetic actuation capability. Three soft robotic applications validate the multifunctionality of MASTA: shape morphing with self-sensing of motion and ground contact, reconfigurable locomotion and surface adaptation through a kirigami-based auxetic design under distributed magnetic fields, and origami-inspired environmental interactions through droplet-triggered transformations. Overall, MASTA is a versatile, self-sensing, and magnetically programmable platform that advances the design of intelligent soft robotic materials, enabling real-time perception, adaptive behavior, and integrated multifunctionality without the need for additional actuation or sensing components.