Related Experiment Video
Updated: Jun 7, 2025
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
8.9K
Stiffness-tunable velvet worm-inspired soft adhesive robot.
Hyeongho Min1, Daebeom Bae2, Siyeon Jang1,3
1Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.
Science Advances
|November 20, 2024
Summary
This study introduces a novel soft robotic system using magnetorheological materials for delicate adhesion control on various surfaces. The robot demonstrates precise grasping and manipulation for biomedical applications, including surgery.
Area of Science:
- Robotics
- Materials Science
- Biomedical Engineering
Background:
- Remotely controlled miniature soft robots face challenges in delicate adhesion control on diverse surfaces.
- Grasping soft biological and non-biological surfaces with low preload without damage is crucial.
Purpose of the Study:
- To develop a soft robotic adhesive system with precise adhesion control inspired by velvet worm secretions.
- To enable delicate grasping and manipulation for applications in confined and sensitive environments.
Main Methods:
- Utilized a structured magnetorheological material with externally controlled stiffness via magnetic fields.
- Implemented an adhesion protocol involving soft-state adhesion, large contact area, and enhanced elastic modulus.
- Designed a mechanical structure to optimize the adhesion protocol's effectiveness.
Main Results:
- Achieved precise adhesion control with stability and repeatability.
- Demonstrated stable transportation within soft, wet organs.
- Successfully performed tasks like unscrewing a nut and assisting in tumor removal surgery.
Conclusions:
- The developed soft adhesive robot shows significant potential for biomedical engineering applications.
- The system is particularly promising for targeting small-scale biological tissues and organisms.
- This technology offers a new approach to delicate manipulation in microsurgery and related fields.
Related Concept Videos
01:05Static and Kinetic Frictional Force
15.6K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
15.6K
01:22Mechanical Systems
171
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
171
01:06Virtual Work for a System of Connected Rigid Bodies
371
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
371
01:13Cell-matrix's Response to Mechanical Forces
2.6K
In animal cells, the extracellular matrix allows cells within tissues to withstand external stresses and transmits signals from the outside of the cell to the inside. The extracellular matrix is extensive, and its composition varies between different types of tissues. For example, the reticular fibers and ground substance make up the ECM in loose connective tissue, while collagen and bone minerals make up the ECM of bone tissue.
Anchoring junctions mechanically attach a cell to the...
Anchoring junctions mechanically attach a cell to the...
2.6K
01:26Kinetic Friction
903
Consider a truck trying to pull a stationary car. As the truck exerts a force on the car, static friction is created at the point of contact between the two surfaces. This frictional force resists the car's movement and keeps it at rest. However, when the applied force by the truck surpasses the limiting static frictional force, an interesting phenomenon occurs. The frictional force at the interface reduces to a lower value, known as the kinetic frictional force. At this point, the car...
903