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Magnetically controlled multimodal motion for environmentally adaptive soft millirobots with transformable wheel-leg morphology 认领 引用 被引量：1
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作者 Shihao Zhong Ruhao Nie +5 位作者 Zhiqiang Zheng Yaozhen Hou Qing Shi Qiang Huang Toshio Fukuda Huaping Wang 《The Innovation》 EI 2026年第3期35-46,共12页
Small-scale soft robots with high morphological flexibility show significant potential for precise operation and sensing in confined environments.However,due to the coupled driving mechanism and the influence of envir... Small-scale soft robots with high morphological flexibility show significant potential for precise operation and sensing in confined environments.However,due to the coupled driving mechanism and the influence of environmental disturbances,the highly adaptable and stable navigation across diverse terrains through multimodal motion,which involves morphing shape and maintaining the reshaped configuration,still presents a major challenge for soft millirobots. 展开更多
关键词 softmillirobots multimodalmotion soft robots morphing shape maintaining reshaped configurationstill environmentallyadaptive multimodal motionwhich soft millirobots navigation across diverse terrains
Bio-inspired magnetic soft robots with omnidirectional climbing for multifunctional biomedical applications 认领 引用 被引量：1
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作者 Ruomeng Xu Xianli Wang +2 位作者 Yuanhe Chen Lap Mou Tam Qingsong Xu 《International Journal of Extreme Manufacturing》 SCIE EI CAS CSCD 2026年第1期685-695,共11页
In recent years,the rising incidence of gastrointestinal(GI)cancer has triggered an urgent need for effective early intervention strategies.Traditional endoscopic techniques often cause patient discomfort,and it is di... In recent years,the rising incidence of gastrointestinal(GI)cancer has triggered an urgent need for effective early intervention strategies.Traditional endoscopic techniques often cause patient discomfort,and it is difficult to navigate deep regions of complex organ structures.This work proposes a kind of bio-inspired magnetic soft robot(BMSR)to address these challenges.The design of the BMSRs is inspired by the rolling motion of the golden wheel spider.Two six-degree-of-freedom(6-DOF)robotic arms are used,where one arm is responsible for real-time manipulation of the BMSRs,and the other is dedicated to monitoring their status.Under the actuation of an external rotating magnetic field,the BMSRs can flexibly climb on inclined surfaces at any angle,involving the inverted surface.Through the powerful output force,the BMSRs can overcome the mobility barrier induced by different human organs,including mucus,folds,and height differences of up to 8 cm.Such an exceptional mobility enables the BMSRs to deliver drugs in the targeted complex GI environment.Moreover,in combination with an endoscope,it provides real-time visual feedback for precise navigation.In vitro animal experiments validate the feasibility of BMSRs,paving a way for their usage in minimally invasive GI treatment.This work advances the potential applications of magnetic soft robots in the biomedical field. 展开更多
关键词 magnetic millirobots magnetic actuation medical robotics soft robots bio-inspired robots
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Magnetic soft millirobot with simultaneous locomotion and sensing capability 认领 引用 被引量：1
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作者 Weihong Zeng Xinrui Ding +6 位作者 Yuan Jin Bin Liu Runhao Zeng Feng Gong Yan Lou Lelun Jiang Hui Li 《npj Flexible Electronics》 SCIE CSCD 2025年第1期1203-1212,共10页
Soft millirobot has attracted significant attention and demonstrated tremendous potential in humanrobot interactions and safety inspections.Locomotion and perception are two crucial features for achieving effective ga... Soft millirobot has attracted significant attention and demonstrated tremendous potential in humanrobot interactions and safety inspections.Locomotion and perception are two crucial features for achieving effective gait and practical applications of robots.Inspired by nature,this research reports a magnetic soft millirobot that integrates locomotion and sensing capacities simultaneously.Microconical matrix with rich and regular surface morphologies are constructed directly inside the millirobot as both multilegged and triboelectric-enhanced sensing structures via cooperation of jet printing and magnetization-induction method with high-speed and high-precision.The robot can both recognize its current body state across various application scenarios and identify terrains through a machine learning strategy.Our work presents a customizable approach for smart millirobots to perform tasks in nonmagnetic structured environments and provides embedded sensing capability for next-generation soft robots. 展开更多
关键词 humanrobot interactions machine learning soft millirobot locomotion sensing capacities sensing effective gait magnetic soft millirobot locomotion
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