Self-vectoring electromagnetic soft robots with high operational dimensionality.

Journal: Nature communications
PMID: 36635282

Abstract

Soft robots capable of flexible deformations and agile locomotion similar to biological systems are highly desirable for promising applications, including safe human-robot interactions and biomedical engineering. Their achievable degree of freedom and motional deftness are limited by the actuation modes and controllable dimensions of constituent soft actuators. Here, we report self-vectoring electromagnetic soft robots (SESRs) to offer new operational dimensionality via actively and instantly adjusting and synthesizing the interior electromagnetic vectors (EVs) in every flux actuator sub-domain of the robots. As a result, we can achieve high-dimensional operation with fewer actuators and control signals than other actuation methods. We also demonstrate complex and rapid 3D shape morphing, bioinspired multimodal locomotion, as well as fast switches among different locomotion modes all in passive magnetic fields. The intrinsic fast (re)programmability of SESRs, along with the active and selective actuation through self-vectoring control, significantly increases the operational dimensionality and possibilities for soft robots.

Authors

  • Wenbo Li
    Foshan Xianhu Laboratory of the Advanced Energy Science and Technology Guangdong Laboratory, Xianhu Hydrogen Valley, Foshan 528200, China.
  • Huyue Chen
    University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Zhiran Yi
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Fuyi Fang
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Xinyu Guo
    Keya Medical Co., Ltd, Longong, Shenzhen, China. Electronic address: xinyug@keyamedical.com.
  • Zhiyuan Wu
    Pediatric Intensive Care Units, Guangzhou Women and Children's Medical Center, Guangzhou Medical University, Guangzhou, China.
  • Qiuhua Gao
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Lei Shao
    Key Laboratory for Control Theory & Applications in Complicated Systems, Tianjin University of Technology, Tianjin 300384, China.
  • Jian Xu
    Department of Cardiology, Lishui Central Hospital and the Fifth Affiliated Hospital of Wenzhou Medical University, Lishui, China.
  • Guang Meng
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
  • Wenming Zhang
    State Key Laboratory of Materials-Oriented Chemical Engineering, College of Biotechnology and Pharmaceutical Engineering, Nanjing Tech University, Nanjing 211800, PR China; Jiangsu National Synergetic Innovation Center for Advanced Materials (SICAM), Nanjing Tech University, Nanjing 211800, PR China.

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