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Articulated Untethered Magnetic Actuators for Multimodal and Cross-Scale Operations
Zhixian Chen1, Xiaoyu Zhao1, Ying Liu1
1Bio-manufacturing Engineering Laboratory, Institute of Data and Information, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518000, China.
Cyborg and Bionic Systems (Washington, D.C.)
|May 21, 2026
Summary
This study introduces a novel modular magnetic robot design for minimally invasive medicine. These robots offer versatile control and complex movements, enabling precise operations in challenging biological environments.
Area of Science:
- Robotics
- Biomedical Engineering
- Materials Science
Background:
- Untethered magnetic actuators are promising for minimally invasive medicine.
- Controlling functional versatility in these systems remains a challenge.
Purpose of the Study:
- To introduce a modular design paradigm for magnetic robots.
- To enable complex, on-demand deformations and versatile control.
Main Methods:
- A modular design using revolute joints to interconnect rigid modules.
- Demonstration through articulated prototypes capable of diverse locomotion and functional tasks.
- Mathematical simulations and dimensionless analysis to confirm robustness.
Main Results:
- Prototypes demonstrated crawling, rolling, and mode switching for tasks like cargo transportation.
- All functions driven by a single, uniform magnetic field, simplifying control.
- Successful navigation in a vascular phantom and cargo delivery in a porcine stomach model.
Conclusions:
- The modular design synergizes rigidity and reconfigurability for enhanced functionality.
- This framework provides a controllable and scalable solution for multifunctional magnetic robots.
- Paves the way for high-precision operations in complex biological environments.
