Ability Of Actuator Research Articles

Multifunctional Magnetic Muscles for Soft Robotics

Despite recent advancements, artificial muscles have not yet been able to strike the right balance between exceptional mechanical properties and dexterous actuation abilities that are found in biological systems. Here, we present an artificial magnetic muscle that exhibits multiple remarkable mechanical properties and demonstrates comprehensive actuating performance, surpassing those of biological muscles. This artificial muscle utilizes a composite configuration, integrating a phase-change polymer and ferromagnetic particles, enabling active control over mechanical properties and complex actuating motions through remote laser heating and magnetic field manipulation. Consequently, the magnetic composite muscle can dynamically adjust its stiffness as needed, achieving a switching ratio exceeding 2.7 × 10³. This remarkable adaptability facilitates substantial load-bearing capacity, with specific load capacities of up to 1000 and 3690 for tensile and compressive stresses, respectively. Moreover, it demonstrates reversible extension, contraction, bending, and twisting, with stretchability exceeding 800%. We leverage these distinctive attributes to showcase the versatility of this composite muscle as a soft continuum robotic manipulator. It adeptly executes various programmable responses and performs complex tasks while minimizing mechanical vibrations. Furthermore, we demonstrate that this composite muscle excels across multiple mechanical and actuation aspects compared to existing actuators.

Reconfigurable light-responsive liquid crystal elastomer /carbon nanotube nanocomposite actuators operated by photothermal effects and dynamic exchange reaction

Monodomain liquid crystal elastomers (MLCEs), exhibiting a light-induced dynamic exchange reaction (DER) and light-triggered actuation abilities, were prepared using dispersed multiwalled carbon nanotubes (MWCNTs) and allyl sulfide linkages incorporated in the MLCE matrix. MWCNTs were dispersed in the MLCE matrix using a newly synthesized dispersant, poly(4-cyanobiphenyl-4′-oxyundecylacrylate-co-pyrene methyl acrylate); this dispersant exhibited amphiphilic properties of π–π interactions with the MWCNT fillers (attributed to the pyrene moieties) and miscibility with the MLCE matrix (attributed to the cyanobiphenyl mesogenic moieties). A low amount of well-dispersed MWCNTs (≤0.05 wt%) in the MLCE matrix induced excellent photothermal effects under near-infrared (NIR) light irradiation, leading to considerable reversible contraction/extension actuation (∼40 % change in length). The bilayer film comprising the MLCE and PLCE (PLCE: polydomain LCE) composite films bonded via DER without glue exhibited excellent bending actuation under NIR light irradiation and was configured into several actuators such as a flower-shaped actuator, a weightlifter, a circular rolling band, an oscillator mimicking a hummingbird, and a casting catapult. Therefore, this novel MLCE/CNT composite film enhances the design ability for the arbitrary shaping and functionalization of NIR light-triggerable LCE actuators, which can be applied to several interesting soft robots.

Smart sensing hydrogel actuators conferred by MXene gradient arrangement

Smart sensing and excellent actuation abilities of natural organisms have driven scientists to develop bionic soft-bodied robots. However, most conventional robots suffer from poor electrical conductivity, limiting their application in real-time sensing and actuation. Here, we report a novel strategy to enhance the electrical conductivity of hydrogels that integrated actuation and strain-sensing functions for bioinspired self-sensing soft actuators. Conductive hydrogels were synthesized in situ by copolymerizing MXene nanosheets with thermosensitive N-isopropylacrylamide and acrylamide under a direct current electric field. The resulting hydrogels exhibited high electrical conductivity (2.11 mS/cm), good sensitivity with a gauge factor of 4.79 and long-term stability. The developed hydrogels demonstrated remarkable capabilities in detecting human motions at subtle strains such as facial expressions and large strains such as knee bending. Additionally, the hydrogel electrode patch was capable of monitoring physiological signals. Furthermore, the developed hydrogel showed good thermally induced actuation effects when the temperature was higher than 30 °C. Overall, this work provided new insights for the design of sensory materials with integrated self-sensing and actuation capabilities, which would pave the way for the development of high-performance conductive soft materials for intelligent soft robots and automated machinery.

How Perception, Actuation, and Communication Impact the Emergence of Collective Intelligence in Simulated Modular Robots.

Modular robots are collections of simple embodied agents, the modules, that interact with each other to achieve complex behaviors. Each module may have a limited capability of perceiving the environment and performing actions; nevertheless, by behaving coordinately, and possibly by sharing information, modules can collectively perform complex actions. In principle, the greater the actuation, perception, and communication abilities of the single module are the more effective is the collection of modules. However, improved abilities also correspond to more complex controllers and, hence, larger search spaces when designing them by means of optimization. In this article, we analyze the impact of perception, actuation, and communication abilities on the possibility of obtaining good controllers for simulated modular robots, that is, controllers that allow the robots to exhibit collective intelligence. We consider the case of modular soft robots, where modules can contract, expand, attach, and detach from each other, and make them face two tasks (locomotion and piling), optimizing their controllers with evolutionary computation. We observe that limited abilities often do not prevent the robots from succeeding in the task, a finding that we explain with (a) the smaller search space corresponding to limited actuation, perception, and communication abilities, which makes the optimization easier, and (b) the fact that, for this kind of robot, morphological computation plays a significant role. Moreover, we discover that what matters more is the degree of collectivity the robots are required to exhibit when facing the task.

Thermal and light-driven soft actuators based on a conductive polypyrrole nanofibers integrated poly(N-isopropylacrylamide) hydrogel with intelligent response

The development of soft hydrogel actuators with outstanding mechanical properties, fast actuation speed, and available quantification of self-sensing actuation remains a challenging endeavor. In this work, dopamine-decorated polypyrrole nanofibers (DAPPy) were introduced into the polyethylene glycol diacrylate (PEGDA)-crosslinked poly(N-isopropyl acrylamide) network to generate a stretchable, NIR-responsive, and strain sensitive DAPPy/PNIPAM hydrogel layer. Besides, this active layer was combined with the passive ligninsulfonate sodium/polyacrylamide (LS/PAAM) to give DAPPy/PNIPAM//LS/PAAM bilayer hydrogel actuator, which exhibits ultrafast thermo-responsive actuation (19°/s) and underwater grasping and lifting performance. Moreover, the DAPPy/PNIPAM layer has excellent electrical conductivity (0.29 S/m) and thermal conversion ability (10.8 °C/min), which enable such a conductive hydrogel to act as a highly sensitive strain and temperature sensor with real-time resistance change in response to tensile strain (gauge factor up to 3.4), applied pressure, temperature, and remote NIR light irradiation. More importantly, the bilayer hydrogel actuator can integrate both actuation and self-sensing functions through the bending angle-surface temperature-relative resistance change relationship of the photothermal process. With excellent mechanical actuation and self-sensing ability, the resulting bilayer hydrogel showed a promising application potential as soft biomimetic actuating materials and soft intelligent actuators.

Effect of temperature and pre-stretch on the dynamic performance of dielectric elastomer minimum energy structure

Dielectric Elastomer Minimum Energy Structures (DEMES) have the ability of actively adjusting their shape to accommodate complex scenarios, understanding the actuation mechanism of DEMES is essential for their effective design and control, which has rendered them a focus of research in the field of soft robotics. The actuation ability of DEMES is usually influenced by external conditions, among which the electromechanical properties of DE materials are highly sensitive to temperature changes, and the pre-stretch ratio of DE materials has a significant impact on the dynamic performance of DEMES. Therefore, it is necessary to study the effects of temperature and pre-stretch ratio on the nonlinear dynamic behavior of DEMES. In this paper, in response to the lack of research on the influence of DE pre-stretch ratio on the actuation characteristics of DEMES, this paper proposes a systematic modeling and analysis framework that comprehensively considers pre-stretch factors, temperature factors, and viscoelastic factors, and establishes the motion control equation of DEMES affected by the coupling effect of DE pre-stretch ratio and temperature. The proposed analytical framework is used to analyze the evolution of the electromechanical response of DEMES under voltage excitation under the coupling of DE pre-stretch ratio and temperature. The results indicate that the bending angle, inelastic deformation, resonant frequency, and dynamic stability of DEMES can be jointly adjusted by the DE pre-stretch ratio and ambient temperature. A low pre-stretch ratio of DE can lead to dynamic instability of DEMES, while appropriate temperature conditions and higher pre-stretch ratios can significantly improve the actuation ability of DEMES. This can provide theoretical guidance for the design and deformation control of DEMES.

One-step formation of polymorphous sperm-like microswimmers by vortex turbulence-assisted microfluidics

Microswimmers are considered promising candidates for active cargo delivery to benefit a wide spectrum of biomedical applications. Yet, big challenges still remain in designing the microswimmers with effective propelling, desirable loading and adaptive releasing abilities all in one. Inspired by the morphology and biofunction of spermatozoa, we report a one-step formation strategy of polymorphous sperm-like magnetic microswimmers (PSMs) by developing a vortex turbulence-assisted microfluidics (VTAM) platform. The fabricated PSM is biodegradable with a core-shell head and flexible tail, and their morphology can be adjusted by vortex flow rotation speed and calcium chloride solution concentration. Benefiting from the sperm-like design, our PSM exhibits both effective motion ability under remote mag/netic actuation and protective encapsulation ability for material loading. Further, it can also realize the stable sustain release after alginate-chitosan-alginate (ACA) layer coating modification. This research proposes and verifies a new strategy for the sperm-like microswimmer construction, offering an alternative solution for the target delivery of diverse drugs and biologics for future biomedical treatment. Moreover, the proposed VTAM could also be a general method for other sophisticated polymorphous structures fabrication that isn’t achievable by conventional laminar flow.

Durable semi-interpenetrating polymer network containing dynamic boroxine bonds for multi-shape manipulated deformation

Shape-shifting materials with multiple shape manipulation, integrated with durability, shape reconfiguration, shape memory, and reversible deformation, are in high demand for applications in soft robotics, electrical devices, and other fields, but remain a significant technical challenge. In this study, we present a straightforward approach to develop a semi-interpenetrating polymer network (named PVP-VPBA-PEGDMA) crosslinked with dynamic boroxine bonds to address these challenges. The typical PVP-VPBA2-PEGDMA0.2 exhibits high mechanical strength of 38.5 MPa, exceptional self-healing capability (with up to 89.4 % efficiency), and recyclability, ensuring remarkable durability during shape-changing process. Notably, the PVP-VPBA-PEGDMA can be programmatically transformed from 2D sheets into a variety of 3D shapes using humidity-induced solid-state plasticity, which is facilitated by humidity-sensitive dynamic boroxine bonds. The PVP-VPBA-PEGDMA can be folded like paper through origami techniques, and maintain permanent shape configurations, highly suitable for complex shape morphing applications. Moreover, the PVP-VPBA-PEGDMA, in their temporary geometries, can power a model car using shape memory, demonstrating substantial actuation ability and mechanical performance. Leveraging the asymmetric humidity-triggered behavior of the PVP-VPBA-PEGDMA, various functional humidity-responsive devices have been developed, including a crawling robot, a hat, and a conveyor belt with wet sorting capability. Given the programmable shape reconfiguration, shape memory and reversible shape-changing ability of PVP-VPBA-PEGDMA, it opens up numerous potential applications in soft robotics, flexible electronic devices, and intelligent sensors.

How to Easily Make Self-Sensing Pneumatic Inverse Artificial Muscles.

Wearable mechatronics for powered orthoses, exoskeletons and prostheses require improved soft actuation systems acting as 'artificial muscles' that are capable of large strains, high stresses, fast response and self-sensing and that show electrically safe operation, low specific weight and large compliance. Among the diversity of soft actuation technologies under investigation, pneumatic devices have been the focus, during the last couple of decades, of renewed interest as an intrinsically soft artificial muscle technology, due to technological advances stimulated by applications in soft robotics. As of today, quite a few solutions are available to endow a pneumatic soft device with linear actuation and self-sensing ability, while also easily achieving these features with off-the-shelf materials and low-cost fabrication processes. Here, we describe a simple process to make self-sensing pneumatic actuators, which may be used as 'inverse artificial muscles', as, upon pressurisation, they elongate instead of contracting. They are made of an elastomeric tube surrounded by a plastic coil, which constrains radial expansions. As a novelty relative to the state of the art, the self-sensing ability was obtained with a piezoresistive stretch sensor shaped as a conductive elastomeric body along the tube's central axis. Moreover, we detail, also by means of video clips, a step-by-step manufacturing process, which uses off-the-shelf materials and simple procedures, so as to facilitate reproducibility.

Experimental Study on Hypersonic Double-Wedge Induced Flow Based on Plasma Active Actuation Array

The double-wedge configuration is a typical characteristic shape of the rudder surface of high-speed aircraft. The impact of the shock wave/boundary layer interaction and the shock wave/shock wave interaction resulting from the double wedge on aircraft aerodynamics cannot be ignored. The aerodynamic performance of the aircraft would be seriously affected. Accordingly, to reduce the wave drag, and to relieve the thermal load and pressure load, flow control is required for the shock wave/shock wave interaction and the shock wave/boundary layer interaction induced by the double-wedge configuration. In this paper, double-wedge shock wave/shock wave interaction is controlled by a high-energy surface arc discharge array and observed by high-speed schlieren flow field measurement at Mach 8. The 30-channel discharge array is set on the primary wedge plane, and actuation is generated. Hypersonic V shock wave/shock wave interaction is effectively controlled by the shock wave array induced by the high-energy surface arc discharge array, which makes the shock wave/shock wave interaction structure disappear or intermittent. The potential control mechanism is to reduce strong shock wave interaction by transforming the type of shock wave interaction. Therefore, the ability of plasma array actuation to control complex shock wave/shock wave interaction is verified, which provides a new method for hypersonic shock wave/shock wave interaction control.

A Wrist-Inspired Magneto-Pneumatic Hybrid-Driven Soft Actuator with Bidirectional Torsion.

A novel wrist-inspired soft actuator, which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit, is proposed. The geometric model, kinematic analysis model, and quasistatic analysis model of the Kresling origami unit are presented. A key focus is on the formulation and investigation of the variation in rotation angle using the kinematic analysis model. A wrist-inspired soft actuator is designed, and its quasistatic characteristics are validated through various experiments. The paper proposes an innovative magneto-pneumatic hybrid actuation method, capable of achieving bidirectional torsion. This actuation method is experimentally validated, demonstrating the actuator's ability to maintain 3 steady states and its capability for bidirectional torsion deformation. Furthermore, the paper highlights the potential of the Kresling origami unit in designing soft actuators capable of achieving large rotation angles. For instance, an actuator with 6 sides (n = 6) is shown to achieve a rotation angle of 239.5°, and its rotation ratio exceeds 277°, about twice the largest one reported in other literature. The actuator offers a practical and effective solution for bidirectional torsion deformation in soft robotic applications.

Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

The increasing number of robots and the rising cost of electricity have spurred research into energy-reducing concepts in robotics. One such concept, elastic actuation, introduces compliant elements such as springs into the robot structure. This article presents a comparative analysis between two types of elastic actuation, namely, monoarticular parallel elastic actuation and biarticular parallel elastic actuation, and demonstrates an end-to-end pipeline for their optimization. Starting from the real-world system identification of an RRR robotic arm, we calibrate a simulation model in a general-purpose physics engine and employ in silico evolutionary optimization to co-optimize spring configurations and trajectories for a pick-and-place task. Finally, we successfully transfer the in silico optimized elastic elements and trajectory to the real-world prototype. Our results substantiate the ability of elastic actuation to reduce the actuators’ torque requirements heavily. In contrast to previous work, we highlight the superior performance of the biarticular variant over the monoarticular configuration. Furthermore, we show that a combination of both proves most effective. This work provides valuable insights into the torque-reducing use of elastic actuation and demonstrates an actuator-invariant in silico optimization methodology capable of bridging the sim2real gap.

Progress of Triboelectric Nanogenerators with Environmental Adaptivity

AbstractAs a distributed environmental energy harvesting device, triboelectric nanogenerators (TENGs) inevitably encounter different and extreme application scenarios, such as environment with high temperature, high humidity, corrosion condition, frequent mechanical stimulus, and physical damages, which resulting in triboelectric performance degradation either by damaging device structure or reducing surface potential, and accelerating dissipation of surface bound charge. Therefore, tremendous efforts are dedicated to improving the TENG performance, enabling devices are competent in sustaining various challenging conditions. This review summarizes and highlights the latest research progress of strategy to achieve TENGs with high environmental adaptivity in three representative application fields of interfacial devices, wearable devices and implantable devices, aiming to gain insights in terms of material selection, structural design, preparation technology, working mode and integration strategy. The future development of the TENG would transform from static to dynamic device that possesses multifunction, high stability, autonomous response and actuation ability to adapt complex application environment. It is hoped that this review article could steer the development of environment‐adaptive TENGs to a higher level.

Highly Stretchable and Conductive MXene‐Encapsulated Liquid Metal Hydrogels for Bioinspired Self‐Sensing Soft Actuators

AbstractAdvanced sensation and actuation abilities of various living organisms in nature have inspired researchers to design bioinspired self‐sensing soft actuators. However, the majority of conventional soft actuators primarily possess actuation capabilities while lacking a real‐time sensing signal feedback. Here, a promising strategy is reported to develop highly stretchable and conductive hydrogels for bioinspired self‐sensing soft actuators, which integrate actuation and strain‐sensing functions into a single materials system. The conductive hydrogels are designed and fabricated by in situ copolymerization of amino‐functionalized MXene‐encapsulated liquid metal nanodroplets (LM@A‐MXene) and poly(N‐isopropylacrylamide) hydrogels with controllable activated nanogels as nano‐cross‐linkers. The resulting hydrogel presents a compacted conducting network and highly porous microstructure, giving rise to robust integration of high conductivity, excellent strain sensitivity, broad stretchability, high stability, and fast response speed. Interestingly, the gradient network structure, formed by self‐precipitation of LM@A‐MXene, endows the hydrogel with shape‐programmable actuation, light‐driven remote control, and self‐sensing function. As a proof‐of‐concept application, the soft gripper based on the self‐sensing hydrogel actuators is developed, which can not only grasp, lift, and release objects, but also perceive every movement state by monitoring resistance changes. The proposed self‐sensing soft actuator can offer new insights for developing smart soft robotics and other artificial intelligent devices.

Magnetic‐Driven Broadband Epsilon‐Near‐Zero Materials at Radio Frequency

AbstractEpsilon‐near‐zero (ENZ) materials, exhibiting unique physical characteristics such as near‐zero refraction, have aroused extensive interest and exhibit great potentials in novel applications of perfect absorbers, high‐harmonic generation, and nonlinear optical response. Here, for the first time, magnetic‐driven broadband ENZ materials are designed by fabricating polyvinyl alcohol (PVA)/Ni@carbon nanotubes (CNTs) films. Dielectric properties including real permittivity (ɛ′), imaginary permittivity (ɛ″), dielectric loss (tanδ), and impedance (Z) are investigated. When Ni@CNTs content reached 30 wt.%, negative permittivity transferred to positive permittivity at ≈11.5 MHz, and epsilon‐near‐zero (|ɛ′| < 1) is realized from ≈9 to 14 MHz, exhibiting broad ENZ bandwidth of ≈5 MHz. Theory calculations confirm that delocalized electrons are introduced from CNTs, which improve the carrier mobility and achieve low frequency dispersion behavior. Longer interfacial polarization electric fields between PVA and CNTs are also demonstrated by theory calculations, enhancing the positive permittivity response to offset negative permittivity response from Ni@CNTs. These two mechanisms result in broadband ENZ at radio frequency. This film also exhibits excellent magnetic actuation ability under magnetic field, broadening applications from ENZ materials to novel fields such as magnetically actuated robots with perfect absorption, magnetic‐driven biomimetic aircrafts with shielding ability, magnetic‐driven photodetectors, etc.

Programmable and Self-Healable Liquid Crystal Elastomer Actuators Based on Halogen Bonding.

Shape-changing polymeric materials have gained significant attention in the field of bioinspired soft robotics. However, challenges remain in versatilizing the shape-morphing process to suit different tasks and environments, and in designing systems that combine reversible actuation and self-healing ability. Here, we report halogen-bonded liquid crystal elastomers (LCEs) that can be arbitrarily shape-programmed and that self-heal under mild thermal or photothermal stimulation. We incorporate halogen-bond-donating diiodotetrafluorobenzene molecules as dynamic supramolecular crosslinks into the LCEs and show that these relatively weak crosslinks are pertinent for their mechanical programming and self-healing. Utilizing the halogen-bonded LCEs, we demonstrate proof-of-concept soft robotic motions such as crawling and rolling with programmed velocities. Our results showcase halogen bonding as a promising, yet unexplored tool for the preparation of smart supramolecular constructs for the development of advanced soft actuators.

Innovative Control Effectors for Maneuvering of Air Vehicles

Flow control is a rapidly developing key technological area which is subject to extensive research as it offers the potential to enhance aircraft aerodynamic performance, control, and maneuverability. The current paper details the methods and the results of a research which envisions assisting the newly formed NATO Task Group STO-AVT-239, with assessing the ability of modern active flow control actuators to improve the performance of Unmanned Combat Air Vehicles (UCAV). The project was supported by the ACE Undergraduate Research Topics Program at IIT and investigated the feasibility of the Coanda effect in achieving Circulation Control (CC) in order to produce rolling motion in cruise. Understanding of the performance of the SACCON airframe design and the complex vortex dominated flow field around was achieved through research papers and previous work of NATO Task Groups. It was discovered that a mid-span vortex influences and disturbs the flow above the control surfaces diminishing their effectiveness. A simple freeware computer code was used to predict the behavior of the airframe and the results were compared to experiment. The predictive abilities of the code were assessed to be good given the limitations of the software. Along with the airframe, CC was researched inorder to predict its maneuver control capabilities.The experimental data and the computationalpredictions were then used in combination witha semi-empirical aileron control model to predictthe aileron effectiveness and compare it tothe CC results. In order to be able to apply forresearch funding from appropriate institutions,a windtunnel experiment was designed andplanned to be conducted to validate the developedmodel.

Haptic Feedback Device Using 3D-Printed Flexible, Multilayered Piezoelectric Coating for In-Car Touchscreen Interface.

This study focuses on the development of a piezoelectric device capable of generating feedback vibrations to the user who manipulates it. The objective here is to explore the possibility of developing a haptic system that can replace physical buttons on the tactile screen of in-car systems. The interaction between the user and the developed device allows completing the feedback loop, where the user's action generates an input signal that is translated and outputted by the device, and then detected and interpreted by the user's haptic sensors and brain. An FEM (finite element model) via ANSYS multiphysics software was implemented to optimize the haptic performance of the wafer structure consisting of a BaTiO3 multilayered piezocomposite coated on a PET transparent flexible substrate. Several parameters relating to the geometric and mechanical properties of the wafer, together with those of the electrodes, are demonstrated to have significant impact on the actuation ability of the haptic device. To achieve the desired vibration effect on the human skin, the haptic system must be able to drive displacement beyond the detection threshold (~2 µm) at a frequency range of 100-700 Hz. The most optimized actuation ability is obtained when the ratio of the dimension (radius and thickness) between the piezoelectric coating and the substrate layer is equal to ~0.6. Regarding the simulation results, it is revealed that the presence of the conductive electrodes provokes a decrease in the displacement by approximately 25-30%, as the wafer structure becomes stiffer. To ensure the minimum displacement generated by the haptic device above 2 µm, the piezoelectric coating is screen-printed by two stacked layers, electrically connected in parallel. This architecture is expected to boost the displacement amplitude under the same electric field (denoted E) subjected to the single-layered coating. Accordingly, multilayered design seems to be a good alternative to enhance the haptic performance while keeping moderate values of E so as to prevent any undesired electrical breakdown of the coating. Practical characterizations confirmed that E=20 V/μm is sufficient to generate feedback vibrations (under a maximum input load of 5 N) perceived by the fingertip. This result confirms the reliability of the proposed haptic device, despite discrepancies between the predicted theory and the real measurements. Lastly, a demonstrator comprising piezoelectric buttons together with electronic command and conditioning circuits are successfully developed, offering an efficient way to create multiple sensations for the user. On the basis of empirical data acquired from several trials conducted on 20 subjects, statistical analyses together with relevant numerical indicators were implemented to better assess the performance of the developed haptic device.

Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities

Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities

Magneto-viscoelasticity of hard-magnetic soft-elastomers: Application to modeling the dynamic snap-through behavior of a bistable arch

Hard-magnetic soft-elastomeric materials show great potential for use in applications where the ability of remote actuation, together with high-flexibility and low-weight are important. One promising type of magnetic-actuator made from such a material is a bistable arch which can harness snap-through instabilities for short response times and high actuation forces. In this paper we formulate a continuum finite-deformation theory for magneto-viscoelasticity of hard-magnetic soft-elastomeric materials. We have numerically implemented the theory in a finite element program. We show that our theory, when suitably calibrated, can reproduce the results from several magnetically-induced snap-through experiments on a bistable arch reported recently by Tan et al. (2022). Finally, we demonstrate the broader usefulness of our theory and its numerical implementation by successfully simulating the complex and reversible magnetically-induced snap-through eversion of a hemispherical shell.