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Lin et al. Soft Sci 2023;3:14 https://dx.doi.org/10.20517/ss.2023.05 Page 13 of 25

Figure 4. Soft robotics based on magnetic nanomembranes/nanostructures. (A) Untethered single cell grippers. Left and middle
frames: schematics of the fabrication process for single cell grippers. (i) Deposition and pattern of the silicon monoxide (SiO) and
silicon dioxide (SiO2) as the stress layer. (ii) Deposition and pattern of silicon dioxide and iron as the rigid segments for magnetic
actuation. (iii) Pattern of the paraffin layer. Right frames: SEM images of a gripper without the paraffin layer (top right), a gripper with
paraffin layer (middle right), and optical image of an array of single cell grippers from (bottom right). Reproduced with permission from
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Ref. [133] . Copyright 2020. American Chemical Society; (B) Fabrication process and envisioned application of a magnetostrictive spider
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silk thread. Reproduced with permission from Ref. [142] . Copyright 2022. John Wiley and Sons; (C) A four-panel microrobot
programmed by arranging panels with nanomagnets of different sizes. Left frames: schematic illustration and SEM images of the
nanomagnet arrays. Top right frame: size dependence of the coercivity of the magnets. Bottom right frames: schematics and images of
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a microscale ‘bird’ operated in two flying modes. Reproduced with permission from Ref. [53] . Copyright 2019. Springer Nature. SEM:
Scanning electron microscopy.