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long-term in vivo assessments focusing on the dynamic interplay between the LM surface, ion release
kinetics, and magnetic performance stability are urgently needed. Robust surface modification, composition
optimization, and encapsulation strategies must be actively explored to enhance LM biocompatibility and
functional durability for genuine biomedical applications [137,138] .

Precise manipulation
Achieving precise magnetic manipulation of LM-based soft robots still faces numerous difficulties and
challenges. The intrinsic fluidity and high deformability of LMs make their dynamic response to magnetic
fields highly nonlinear and difficult to predict. Existing research is largely confined to the qualitative or
semi-quantitative depiction of the manipulation mechanism. This lack of systematic quantitative analysis
and generalized mathematical models severely hinders the ability to establish predictive relationships.
Moreover, the strong sensitivity of LMs to external conditions, such as viscosity changes caused by
temperature fluctuations or interactions with surrounding media, further reduces control reliability. At the
system level, real-time feedback and sensing present additional hurdles, since monitoring the continuously
changing morphology of LM under actuation is far from trivial.

Tackling these challenges requires a concerted and multidisciplinary approach, involving digitally-enabled
quantitative analysis, the implementation of advanced control strategies, and innovations in material science.
Specifically, it is imperative to establish a comprehensive quantitative framework, including both a
mathematical model and experimental validation, to govern magnetic field-particle interactions within MLM
systems and establish predictive relations between Lorentz force parameters and LM dynamics. To this end,
adopting standardized quantitative metrics is essential for enabling rigorous performance benchmarking
across different studies. Such standardization will provide a common language for the community,
facilitating reproducible research and the systematic evolution of next-generation LM soft robots. In
addition, closed-loop feedback systems that integrate real-time imaging or embedded sensors could
significantly improve accuracy and robustness by continuously adjusting the applied magnetic fields.
Machine learning-based control algorithms may help model and compensate for nonlinear dynamics,
enabling more reliable trajectory planning. On the materials side, surface modification or alloying strategies
may enhance the stability and tunability of LMs under magnetic manipulation. In parallel, the design of
multi-coil or gradient magnetic field systems could provide finer spatial resolution and greater control
flexibility. By synergistically advancing control methods, sensing technologies, and material engineering, the
precise and reliable magnetic manipulation of LM soft robots could gradually become achievable.

Synergistic multi-field manipulation, which integrates magnetic fields with other physical stimuli (electric,
thermal, or acoustic), holds immense promise for achieving complex, versatile, and highly programmable
LM responses that far exceed the capabilities of single-field approaches. However, despite this potential,
research in this domain remains in its nascent stages. Current studies suggest the feasibility of concurrent
actuation rather than delving into deep synergistic coupling, leaving a significant knowledge gap regarding
the complex interplay between distinct physical fields within dynamic LM systems. To bridge this gap, future
investigations must move beyond investigating mere additive effects and prioritize unravelling the
underlying mechanisms of cross-field interactions. Specifically, understanding how competing or
cooperative forces influence LM fluid dynamics and surface tension under simultaneous stimulation will be
pivotal for developing truly sophisticated, multi-functional LM platforms.

Future applications
Magnetically manipulated LM soft robots have already demonstrated numerous experimental applications in
biomedicine, electronics, and environmental engineering. Looking further ahead, magnetically manipulated
LM soft robots could become integral to futuristic technologies. They may function as self-assembling,