Magnetically Controllable Paper-Based Soft Robots for Colorimetric Detection of Heavy Metal Ions

Magnetically controllable soft robots are of great interest because they have unique properties compared with conventional rigid counterparts and can be used in diverse applications such as intelligent electronics, bionics, personalized medicine, and cargo grasping. However, the fabrication of such multifunctional soft robots has been challenging because of the integration of dissimilar materials into the robot body. Herein, we designed and fabricated a soft robotic multifunctional system using conventional papers and elastomeric polymers for the colorimetric detection of heavy metal ions (Hg²⁺ and Fe³⁺) in water samples. The magnetic actuation of the platforms was shown to correlate with the type of underlying paper and magnetic particle content in the mixtures. Moreover, it was observed that actuation can also be manipulated by controlling the magnetic field strength. A proof-of-concept robotic paper-based Hg²⁺, Zn²⁺, and Fe³⁺ ion detection was demonstrated by combining colorimetric paper sensors and magneto-papers. Our study highlights the significant potential of paper as a material for the fabrication of effective and multifunctional untethered soft robots.