Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

Ziyu Ren, Metin Sitti

Published: 2023-12-14 DOI: 10.1038/s41596-023-00916-6

soft-bodied robots

multimodal locomotion

millirobots

medical applications

locomotion control

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Figure 1
Fig. 1: Magnetic soft-bodied miniature robots with multimodal locomotion capability.
Figure 2
Fig. 2: Example results of characterization of magnetic materials.
Figure 3
Fig. 3: Design of the magnetic soft-bodied miniature robots with multimodal locomotion.
Figure 4
Fig. 4: The distributions of magnetic microparticles in polymer matrixes.
Figure 5
Fig. 5: Fabrication process of the magnetic soft composite films.
Figure 6
Fig. 6: Fabrication process of the magnetic soft composite thin films with microstructures.
Figure 7
Fig. 7: Fabrication process of the magnetic soft composite films that can also respond to other nonmagnetic stimuli.
Figure 8
Fig. 7: Fabrication process of the magnetic soft composite films that can also respond to other nonmagnetic stimuli.
Figure 9
Fig. 8: Producing 3D shapes for the magnetic soft composite materials.
Figure 10
Fig. 8: Producing 3D shapes for the magnetic soft composite materials.
Figure 11
Fig. 9: Magnetizing and assembly of the soft robot components.
Figure 12
Fig. 9: Magnetizing and assembly of the soft robot components.
Figure 13
Fig. 10: Measuring the B–H curve using VSM.
Figure 14
Fig. 10: Measuring the B–H curve using VSM.
Figure 15
Fig. 11: Magnetic actuation setups for controlling the locomotion of small-scale magnetic soft robots.
Figure 16
Fig. 11: Magnetic actuation setups for controlling the locomotion of small-scale magnetic soft robots.
Figure 17
Fig. 12: Realization of different locomotion modes of the sheet-shaped robot on solid surfaces.
Figure 18
Fig. 12: Realization of different locomotion modes of the sheet-shaped robot on solid surfaces.
Figure 19
Fig. 13: Realization of locomotion modes of the sheet-shaped robot on water–air interfaces, within water, and in tubular structures with internal liquid flows.
Figure 20
Fig. 13: Realization of locomotion modes of the sheet-shaped robot on water–air interfaces, within water, and in tubular structures with internal liquid flows.
Figure 21
Fig. 14: Realization of transition modes of the sheet-shaped robot.
Figure 22
Fig. 14: Realization of transition modes of the sheet-shaped robot.
Figure 23
Fig. 15: Realization of five swimming modes of the ephyra jellyfish-inspired robot.
Figure 24
Fig. 15: Realization of five swimming modes of the ephyra jellyfish-inspired robot.
Figure 25
Fig. 16: Realization of multimodal locomotion of the larval zebrafish-inspired robot and the dual stimuli-responsive sheet-shaped robot.
Figure 26
Fig. 16: Realization of multimodal locomotion of the larval zebrafish-inspired robot and the dual stimuli-responsive sheet-shaped robot.
Figure 27
Fig. 17: Medical imaging setup for ex vivo experiments.
Figure 28
Fig. 17: Medical imaging setup for ex vivo experiments.
Figure 29
Fig. 18: Particle image velocimetry (PIV) fluid flow visualization experiments.
Figure 30
Fig. 18: Particle image velocimetry (PIV) fluid flow visualization experiments.

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Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

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