This invention relates to methods and devices for propulsion through a fluid, in particular at low Reynolds number. We describe a method of propelling one of a magnetic device and a fluid relative to the other, the magnetic device comprising a pair of magnetic moments linked by an elastic coupling element, one of said moments having a greater resistance to a change in orientation due to an external applied magnetic field than the other, the method comprising applying an elliptical or ellipsoidal rotating magnetic field to the device to cause a change in mutual attraction or repulsion between said magnetic moments to thereby change a physical configuration of said device, propelling said device relative to said fluid.