Navigation and Load Adaptability of a Flatworm-Inspired Soft Robot Actuated by Staggered Magnetization Structure

Area of Science:

• Robotics
• Biomimetics
• Soft Materials

Background:

• Soft robots offer advantages in dexterity and safety for complex environments.
• Mimicking biological locomotion, like that of flatworms, can lead to novel robotic gaits.
• Magnetic actuation provides a non-invasive method for controlling soft robotic systems.

Purpose of the Study:

• To design and fabricate a magnetically actuated soft robot inspired by flatworm peristaltic locomotion.
• To investigate the robot's maneuverability, terrain adaptability, and load-carrying capacity.
• To explore potential applications in non-invasive interventions.

Main Methods:

• Fabrication of a soft robot using photocurable resin with embedded magnets.
• Application of vertically oscillating magnetic fields to induce undulatory motion.
• Experimental testing of locomotion speed, obstacle navigation, and payload capacity.

Main Results:

• The robot achieved consistent bidirectional velocities of 4-7 mm/s on flat surfaces.
• Demonstrated effective navigation of complex topographies and curved obstacles up to 16 times its body thickness.
• Successfully transported a 6 g payload without performance degradation.

Conclusions:

• The magnetically actuated soft robot effectively replicates flatworm locomotion for robust maneuverability.
• The robot exhibits significant terrain adaptability and load-carrying capabilities.
• Promising applications include biomedical capsule endoscopy and industrial pipeline inspection.