Hard-magnetic soft materials have attracted broad interests because of their flexible programmability, non-contact activation and rapid response in various applications such as soft robotics, biomedical devices and flexible electronics. Such multifunctional materials consist of a soft matrix embedded with hard-magnetic particles, and can exhibit large deformations under external magnetic stimuli. Here, we develop a three-dimensional (3D) rod model to predict spatial deformations (extension, bending and twist) of slender hard-magnetic elastica.
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