Problem
Research questions and friction points this paper is trying to address.
multimodal locomotion
soft robot
confined environments
unstructured environments
biomedical applications
A Foldable and Agile Soft Electromagnetic Robot for Multimodal Navigation in Confined and Unstructured Environments
🤖 AI Summary
This study addresses the limited locomotion capabilities of miniature soft robots in complex unstructured environments such as the gastrointestinal tract by proposing a compact, foldable, and robust multimodal soft electromagnetic robot (M-SEMR). The robot features a six-spoke elastomeric architecture embedded with liquid metal channels and is actuated via Lorentz forces under a static magnetic field. It achieves an unprecedented volumetric compression ratio of 79% while supporting more than nine distinct locomotion modes. Mode switching occurs in as little as 0.35 seconds, and the robot attains a maximum rolling speed of 818 mm/s (26 body lengths per second). It successfully navigates diverse challenging terrains—including discrete obstacles, viscoelastic gels, viscous fluids, and biomimetic tissues—demonstrating exceptional environmental adaptability and high maneuverability.
📝 Abstract
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia, multimodal locomotion is also essential for a small-scale soft robot to conduct tasks. Here, we introduce a small-scale compact, foldable, and robust soft electromagnetic robot (M-SEMR) with more than nine locomotion modes designed for such a scenario. Featuring a six-spoke elastomer body embedded with liquid metal channels and driven by Laplace forces under a static magnetic field, the M-SEMR is capable of rapid transitions (< 0.35 s) among different locomotion modes. It achieves exceptional agility, including high-speed rolling (818 mm/s, 26 BL/s), omnidirectional crawling, jumping, and swimming. Notably, the robot can fold to reduce its volume by 79%, enabling it to traverse confined spaces. We further validate its navigation capabilities on complex terrains, including discrete obstacles, viscoelastic gelatin surfaces, viscous fluids, and simulated biological tissues. This system offers a versatile strategy for developing high-mobility soft robots for future biomedical applications.
Innovation
Methods, ideas, or system contributions that make the work stand out.
soft electromagnetic robot
multimodal locomotion
foldable design
Laplace force actuation
biomedical navigation
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