Reconfigurable magnetic soft robots with multimodal locomotion

Ju, Yuwei; Hu, Run; Xie, Yan; Yao, Jianpeng; Li, Xiaoxiang; Lv, Yiliang; Han, Xu; Cao, Quanliang; Li, Liang

doi:10.1016/j.nanoen.2021.106169

Cited by 88 publications

(72 citation statements)

References 48 publications

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“…The proposed MMR therefore demonstrated significantly higher dexterity than existing MMRs that could perform two‐anchor crawling locomotion. [ 10,49,73,79,80,82,84 ]…”

Section: Resultsmentioning

confidence: 99%

“…The proposed MMR therefore demonstrated significantly higher dexterity than existing MMRs that could perform two-anchor crawling locomotion. [10,49,73,79,80,82,84] Terrestrial locomotion like rolling and two-anchor crawling might not be applicable if the MMRs had to negotiate across highly confined and enclosed channels. In such scenarios, executing undulating crawling would be an effective locomotion for MMRs to overcome such obstacles.…”

Section: Supporting Information) During the Translations Along Thementioning

confidence: 99%

“…We would like to highlight that existing soft MMRs would not be able to navigate across this unstructured terrain because they would not be able to tilt while performing the two-anchor crawling locomotion. [10,49,73,79,80,82,84] As a result, they would not be able to cross the narrow path that had strict shape constraints. Furthermore, existing soft MMRs would not have the dexterity to undulating crawl across convoluted, enclosed channels with nonplanar geometries.…”

Section: Supporting Information) During the Translations Along Thementioning

confidence: 99%

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Magnetic Miniature Actuators with Six‐Degrees‐of‐Freedom Multimodal Soft‐Bodied Locomotion

Yang

Tan

et al. 2022

Advanced Intelligent Systems

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Magnetic miniature robots (MMRs) are mobile actuators that can exploit their size to noninvasively access highly confined, enclosed spaces. By leveraging on such unique abilities, MMRs have great prospects to transform robotics, biomedicine, and materials science. As having high dexterity is critical for MMRs to enable their targeted applications, existing MMRs have developed numerous soft‐bodied gaits to locomote in various environments. However, there exist two critical limitations that have severely restricted their dexterity: 1) MMRs capable of multimodal soft‐bodied locomotion have only demonstrated five‐degrees‐of‐freedom (five‐DOF) motions because the sixth‐DOF rotation about their net magnetic moment axis is uncontrollable; 2) six‐DOF MMRs have only realized one mode of soft‐bodied, swimming locomotion. Herein, a six‐DOF MMR is proposed that can execute seven modes of soft‐bodied locomotion and perform 3D pick‐and‐place operations. By optimizing its harmonic magnetization profile, the MMR can produce 1.41–63.9‐fold larger sixth‐DOF torque than existing MMRs with similar profiles, without compromising their traditional five‐DOF actuation capabilities. The proposed MMR demonstrates unprecedented dexterity: it can jump through narrow slots to reach higher grounds; use precise orientation control to roll, two‐anchor crawl, and swim across tight openings with strict shape constraints; and perform undulating crawling across three different planes in convoluted channels. An interactive preprint version of the article can be found at: https://www.authorea.com/doi/full/10.22541/au.164087652.25227465.

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“…The proposed MMR therefore demonstrated significantly higher dexterity than existing MMRs that could perform two‐anchor crawling locomotion. [ 10,49,73,79,80,82,84 ]…”

Section: Resultsmentioning

confidence: 99%

Section: Supporting Information) During the Translations Along Thementioning

confidence: 99%

Section: Supporting Information) During the Translations Along Thementioning

confidence: 99%

See 1 more Smart Citation

Magnetic Miniature Actuators with Six‐Degrees‐of‐Freedom Multimodal Soft‐Bodied Locomotion

Yang

Tan

et al. 2022

Advanced Intelligent Systems

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“…The relative stride lengths of the “caterpillar” and “rocking horse” are comparable to molded MSMRs reported in earlier works whose stride length typical ranges from 15% to 29% of the body length. [ 11,16,38–40 ] A slight back stride of the tail/hind leg was observed in Step 2 of each stride; however, it did not affect the overall locomotion of these two millirobots.…”

Section: Msmr Fabrication By Cvpmentioning

confidence: 99%

Magnetic Soft Millirobots 3D Printed by Circulating Vat Photopolymerization to Manipulate Droplets Containing Hazardous Agents for In Vitro Diagnostics

Zhou

Kanitthamniyom

et al. 2022

Advanced Materials

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3D printing via vat photopolymerization (VP) is a highly promising approach for fabricating magnetic soft millirobots (MSMRs) with accurate miniature 3D structures; however, magnetic filler materials added to resin either strongly interfere with the photon energy source or sediment too fast, resulting in the nonuniformity of the filler distribution or failed prints, which limits the application of VP. To this end, a circulating vat photopolymerization (CVP) platform that can print MSMRs with high uniformity, high particle loading, and strong magnetic response is presented. After extensive characterization of materials and 3D printed parts, it is found that SrFe12O19 is an ideal magnetic filler for CVP and can be printed with 30% particle loading and high uniformity. By using CVP, various tethered and untethered MSMRs are 3D printed monolithically and demonstrate the capability of reversible 3D‐to‐3D transformation and liquid droplet manipulation in 3D, an important task for in vitro diagnostics that are not shown with conventional MSMRs. A fully automated liquid droplet handling platform that manipulates droplets with MSMR is presented for detecting carbapenem antibiotic resistance in hazardous biosamples as a proof of concept, and the results agree with the benchmark.

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“…Soft robotic grippers based on MAPs are becoming popular due to the ease of their actuation [95][96][97]. In this example, we consider a hard magnetic gripper consisting of six fingers, as shown in Fig.…”

Section: A Hard Magneto-active Grippermentioning

confidence: 99%

A unified numerical approach for soft to hard magneto-viscoelastically coupled polymers

Kadapa¹,

Hossain²

2021

Preprint

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The last decade has witnessed the emergence of magneto-active polymers (MAPs) as one of the most advanced multi-functional soft composites. Depending on the magnetisation mechanisms and responsive behaviour, MAPs are mainly classified into two groups: i) hard magnetic MAPs in which a large residual magnetic flux density sustains even after the removal of the external magnetic field, and ii) soft magnetic MAPs where the magnetisation of the filler particles disappear upon the removal of the external magnetic field. Polymeric materials are widely treated as fully incompressible solids that require special numerical treatment to solve the associated boundary value problem. Furthermore, both soft and hard magnetic particles-filled soft polymers are inherently viscoelastic. Therefore, the aim of this paper is to devise a unified finite element method-based numerical framework for magneto-mechanically coupled systems that can work for compressible and fully incompressible materials and from hard to soft MAPs, including the effects of the time-dependent viscoelastic behaviour of the underlying matrix. First, variational formulations for the uncoupled problem for hard MAPs and the coupled problem for soft MAPs are derived. The weak forms are then discretised with higher-order Bézier elements while the evolution equation for internal variables in viscoelastic models is solved using the generalised-alpha time integration scheme, which is implicit and second-order accurate. Finally, a series of experimentally-driven boundary value problems consisting of the beam and robotic gripper models are solved in magneto-mechanically coupled settings, demonstrating the versatility of the proposed numerical framework. The effect of viscoelastic material parameters on the response characteristics of MAPs under coupled magnetomechanical loading is also studied.

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Reconfigurable magnetic soft robots with multimodal locomotion

Cited by 88 publications

References 48 publications

Magnetic Miniature Actuators with Six‐Degrees‐of‐Freedom Multimodal Soft‐Bodied Locomotion

Magnetic Miniature Actuators with Six‐Degrees‐of‐Freedom Multimodal Soft‐Bodied Locomotion

Magnetic Soft Millirobots 3D Printed by Circulating Vat Photopolymerization to Manipulate Droplets Containing Hazardous Agents for In Vitro Diagnostics

A unified numerical approach for soft to hard magneto-viscoelastically coupled polymers

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