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Related Experiment Video

Updated: May 1, 2026

Using a Microfluidics Device for Mechanical Stimulation and High Resolution Imaging of C. elegans

Using a Microfluidics Device for Mechanical Stimulation and High Resolution Imaging of C. elegans

Published on: February 19, 2018

Magnetically-driven deployable structure inspired by worms.

Ilaria Cedrola¹, Sabina Maglio¹, Mohammad Hasan Dad Ansari¹

¹The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio, 34, 56025 Pontedera, PI, Italy.

Bioinspiration & Biomimetics

|April 29, 2026

Summary

This summary is machine-generated.

Inspired by marine worms, this study presents a magnetically actuated soft robotic system for deploying a proboscis-like structure. This novel fluidic transmission mechanism achieves significant elongation, offering new possibilities for soft robotics applications.

Keywords:

deployable structures magnetic actuation sipunculid worms soft actuation

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Published on: September 2, 2016

Area of Science:

Robotics and Biomimetics
Materials Science
Fluid Mechanics

Background:

Soft robotics requires innovative actuation strategies for delicate tasks.
Marine worms exhibit complex protrusion mechanisms that can inspire engineering solutions.

Purpose of the Study:

To develop a magnetically driven, soft fluidic transmission mechanism for robotic actuation.
To mimic the protrusion mechanism of the marine worm Phascolosoma stephensoni for soft robotics.
To investigate the effect of magnetic particle concentration on actuation performance.

Main Methods:

Fabrication of magnetic bending units using DragonSkin-10 silicone with varying NdFeB particle concentrations (40-70 wt%).
Development of a magnetically actuated soft fluidic transmission system with an active trunk and passive proboscis.
Analytical modeling and experimental validation of the trunk mechanism for proboscis deployment.

Main Results:

Achieved a proboscis elongation ratio of up to 2.5 (45 mm displacement) relative to the system's initial length.
Demonstrated improved magnetization and bending performance with increased particle content (up to ~200% gain).
Validated trunk analytical model with a low error of 2.4% and measured internal pressure variations up to 3 kPa and tip force up to 1 N.

Conclusions:

Optimizing magneto-mechanical properties of soft materials enables effective wireless actuation in fluidic transmission systems.
The developed soft robotic system offers a promising approach for targeted delivery in constrained and delicate environments.
Biomimetic design inspired by marine worms provides a viable pathway for advancing soft robotics actuation strategies.