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Abstract Magnetically actuated intelligent structures have shown great promise in various applications ranging from soft robotics to biomedical devices. One important type of structure involves embedding rigid magnets in polymer matrices, thanks to their simplicity in manufacturing and flexibility in structure design. However, accurately modeling their behavior remains challenging due to the strong nonlinear coupling between large deformation and spatially varying magnetic fields. To address this, we employ a fictitious magnetic charge method to transfer the magnetic forces and torques into surface traction under both uniform and nonuniform external magnetic actuation. We implement the proposed method in the commercial finite element software abaqus and validate it through a series of benchmark examples, which cover tuning the area of magneto-mechanical metamaterials, the shape changing of magnetic lattice structures, and the magnetic-field-driven buckling of cellular structures. Our approach enables accurate prediction of shape transformations in magnetically responsive structures, offering a practical tool for the design and optimization of future magneto-mechanical metamaterials and devices. 

Abstract Surface wrinkles have emerged as a promising avenue for the development of smart adhesives with dynamically tunable adhesion, finding applications in diverse fields, such as soft robots and medical devices. Despite intensive studies and great achievements, it is still challenging to model and simulate the tunable adhesion with surface wrinkles due to roughened surface topologies and pre-stress inside the materials. The lack of a mechanistic understanding hinders the rational design of these smart adhesives. Here, we integrate a lattice model for nonlinear deformations of solids and nonlocal interaction potentials for adhesion in the framework of molecular dynamics to explore the roles of surface wrinkles on adhesion behaviors. We validate the proposed model by comparing wrinkles in a neo-Hookean bilayer with benchmarked results and reproducing the analytical solution for cylindrical adhesion. We then systematically study the pull-off force of the wrinkled surface with varied compressive strains and adhesion energies. Our results reveal the competing effect between the adhesion-induced contact and the roughness due to wrinkles on enhancing or weakening the adhesion. Such understanding provides guidance for tailoring material and geometry as well as loading wrinkled surfaces for different applications. 

Mechanical metamaterials achieve multistep, programmable responses through sequential deformation driven by snapping instabilities, yet these sequences are typically governed by unavoidable imperfections, resulting in random and uncontrollable behavior. Here, we harness intra- and interlayer magnetic interactions coupled with elasticity to reprogram the ordering of sequential buckling instabilities in kirigami-inspired soft magnetic metamaterials. In single-layer systems, intralayer coupling among magnetized units produces random snapping sequences but generates strongly nonlinear-spiked force-displacement responses with pronounced hysteresis, in contrast to the simultaneous buckling of unmagnetized sheets. In multilayer assemblies, interlayer magnetic interactions trigger chain reaction–like propagation, transforming randomness into robust, directional snapping across structures. This mechanism establishes a paradigm for deterministic, multistep mechanical responses without continuously applied fields and opens avenues for adaptive materials in energy dissipation, waveguiding, reconfigurable soft robotics, and biomedical devices. 

Many complex wetting behaviors of fibrous materials are rooted in the behaviors of individual droplets attached to pairs of fibers. Here, we study the splitting of a droplet held between the tips of two cylindrical fibers. We discover a sharp transition between two post-rupture states, navigated by changing the angle between the rods, in agreement with our bifurcation analysis. Depinning of the bridge contact line can lead to a much larger asymmetry between the volume of liquid left on each rod. This second scenario enables the near-complete transfer of an aqueous glycerol droplet between two identical vinylpolysiloxane fibers. We leverage this response in a device that uses a ruck to pass a droplet along a train of fibers, a proof-of-concept for the geometric control of droplets on deformable, architected surfaces. 

Metachronal motions are ubiquitous in terrestrial and aquatic organisms and have attracted substantial attention in engineering for their potential applications. Hard‐magnetic soft materials are shown to provide new opportunities for metachronal wave‐modulated robotic locomotion by multi‐agent active morphing in response to external magnetic fields. However, the design and optimization of such magnetic soft robots can be complex, and the fabrication and magnetization processes are often delicate and time‐consuming. Herein, a computational model is developed that integrates granular models into a magnetic–lattice model, both of which are implemented in the highly efficient parallel computing platform large‐scale atomic/molecular massively parallel simulator (LAMMPS). The simulations accurately reproduce the deformation of single cilium, the metachronal wave motion of multiple cilia, and the crawling and rolling locomotion of magnetic cilia soft robots. Furthermore, the simulations provide insight into the spatial and temporal variation of friction forces and trajectories of cilia tips. The results contribute to the understanding of metachronal wave‐modulated locomotion and potential applications in the field of soft robotics and biomimetic engineering. The developed model also provides a versatile computational framework for simulating the movement of magnetic soft robots in realistic environments and has the potential to guide the design, optimization, and customization of these systems. 

Tissue morphogenetic remodeling plays an important role in tissue repair and homeostasis and is often governed by mechanical stresses. In this study, we integrated an in vitro mesenchymal tissue experimental model with a volumetric contraction-based computational model to investigate how geometrical designs of tissue mechanical constraints affect the tissue remodeling processes. Both experimental data and simulation results verified that the standing posts resisted the bulk contraction of the tissues, leading to tissue thinning around the posts as gap extension and inward remodeling at the edges as tissue compaction. We changed the geometrical designs for the engineered mesenchymal tissues with different shapes of posts arrangements (triangle vs. square), different side lengths (6 mm vs. 8 mm), and insertion of a center post. Both experimental data and simulation results showed similar trends of tissue morphological changes of significant increase of gap extension and deflection compaction with larger tissues. Additionally, insertion of center post changed the mechanical stress distribution within the tissues and stabilized the tissue remodeling. This experimental-computational integrated model can be considered as a promising initiative for future mechanistic understanding of the relationship between mechanical design and tissue remodeling, which could possibly provide design rationale for tissue stability and manufacturing.