Fig. 4

Left) Side view showing magnets (all are in down state except the fifth from the right), and 3D-printed pin interface (white with grey pins protruding). Right) schematic cross-section of one taxel, showing the two latched positons. To switch between the two stable positions, a current pulse is sent to the planar metal coils in both top and bottom printed circuit boards, generating a magnetic field gradient that pulls or pushes the magnet to the other stable state. The blue latching plates are ferromagnetic and hold the magnet in either the up or down state with no power consumption