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Significance Wirelessly controlled, multitasking soft devices active in aqueous environments are highly required for applications in microfluidics and organ-on-a-chip and as medical devices. Inspired by marine organisms, we present an approach to achieve such devices by utilizing stimuli-responsive material assemblies capable of untethered object manipulation in an enclosed aqueous environment. Our soft robot assembly integrates a magnetically controlled stem with a light-responsive gripper with unmatched speed, insensitivity to contaminants, and high control of actuation underwater at low light intensities. The independent device segments can be orthogonally controlled to realize different tasks such as attracting, capturing, and releasing targets in an aqueous environment, demonstrating the significance of actuator assemblies in the fabrication of multifunctional soft devices operating underwater.

An artificial aquatic polyp that wirelessly attracts, grasps, and releases objects