Bi-stable soft electromagnetic actuator

A bi-stable soft electromagnetic actuator assembly comprising:

• a plurality of unit actuators attached to each other by magnetic force,
• each of the plurality of unit actuators includes:
• a housing including a frame portion formed of a stretchable elastic body;
• a stretchable coil portion generating an electromagnetic field by applied power, located in the housing, and having a first surface and a second surface facing in mutually opposite directions;
• and
• at least one pair of permanent magnet portions respectively facing the first surface and the second surface of the stretchable coil portion and arranged to maintain a distance by the frame portion.