This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.

Magnetic fluid is a field-responsive intelligent fluid, which has the flow characteristics of liquid and the elastic properties of solid. Because of its unique properties, it has a strong application prospect in the fields of magnetic soft robot, intelligent sensor, and so on. Dynamic viscoelasticity is a significant index to investigate the performance of magnetic fluid in the application process. In this paper, the dynamic viscoelasticity of a homemade mineral oil-based magnetic fluid was investigated under oscillatory shear experimental conditions using an MCR302 rheometer, and the effects of different temperatures and magnetic fields on the dynamic viscoelasticity were examined. Amplitude sweeps tests showed that the value of the storage modulus remained constant within the linear viscoelastic region (LVE) and the stable structure was not destroyed. As the magnetic field strength increased or the temperature increased, the range of the linear viscoelastic zone decreased. At large amplitude, the loss modulus will first appear as a peak and then decrease. The frequency sweep experiment showed that the storage modulus and loss modulus increased with the increase in angular frequency, and the greater the magnetic field intensity, the longer the internal structure relaxation time. When the magnetic field was constant, the higher the temperature, the smaller the storage modulus and loss modulus of the magnetic fluid. At high temperature, the loss coefficient of mesmeric fluid was large, and the magnetic fluid was more viscous. The lower the temperature is, the smaller the loss coefficient of the magnetic fluid is, and the magnetic fluid is more pliant. The study of dynamic viscoelasticity of magnetic fluids lays the foundation for establishing the complete structure intrinsic relationship of magnetic fluids and provides guidance for the application of magnetic fluids in magnetic 3D printing, droplet robot, and smart wear.