In this work, we developed a simulation framework for magnetic soft robots using the Material Point Method (MPM). This framework can accurately model robot behaviour under external magnetic fields, including the complexities of material elasticity and magnetic wrench.  The framework can accurately model the self-collision of robots and dynamic response under time-varying fields.  We validate this design in several experiments and showcase example designs from the literature recreated in simulation.

This advancement aids in our goals to create patient-specific robot designs. By use of accurate simulation, we can optimize robot magnetizations and geometry in order to give desired real-world behaviour. Designs can also be validated quickly without the complexities of fabrication and experimental setup.