A device configured to move in a viscoelastic media, the device comprising: a main-body comprising a first material, configured to respond to a first threshold of a stimulus field； and one or more memory shaped elements comprising a second material, configured to respond to a second threshold of a stimuli field； wherein the first material is selected to enable manipulation of the main-body's direction in the viscoelastic media； and wherein second material is selected to enable manipulation of the configuration of the memory shaped element.
