Liquid-Metal Magnetic Soft Robot With Reprogrammable Magnetization and Stiffness
Liquid-Metal Magnetic Soft Robot With Reprogrammable Magnetization and Stiffness
复制标题
具有可编程磁化和刚度的液态金属磁性软机器人
DOI：
10.1109/lra.2022.3151164
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Yao, Hanchen
中科院分区：
文献类型：
--
作者：
Zhao, Ran;Dai, Houde;Yao, Hanchen
磁致软机器人在生物医学领域具有广阔的应用前景，如细胞操作、药物输送和无创介入等。但其功能单一、刚度不可改变等缺点限制了其实用性。因此，本文提出了一种基于钙/钕铁硼/PDMS复合材料的功能可重构软机器人。提出了一种无加热可编程磁化技术，通过对磁畴的重构来调节机器人的响应动作。此外，采用基于液态-金属热致相变的刚度规划技术对机器人的刚度进行调节。四个机器人原型被建造和测试。实验结果表明，该机器人具有可变响应和可变刚度，能够满足不同的操作任务。因此，柔性机器人具有可变功能和可重复使用的特点。该技术有望应用于智能软机械的批量生产。
Magneto-actuated soft robots have broad prospects for biomedical applications, such as cell manipulation, drug delivery, and noninvasive intervention. However, the single function and unchangeable stiffness restrict their practicality. Therefore, the work presented a functionally reconfigurable soft robot based on Callium/NdFeB/PDMS composites. A heating-free reprogrammable magnetization technique was proposed to regulate the robot's response actions through re-patterning the magnetic domains. Moreover, a stiffness programming technique in terms of the liquid-metal thermotropic phase transition was employed to regulate the robot's stiffness. Four robot prototypes were constructed and tested. Experimental results showed that the robot performed variable responses and changeable stiffness, which satisfied different manipulation tasks. Therefore, the soft robot was endowed with variable functions and reusable characteristics. The proposed technique is expected to be applied to the batch manufacturing of intelligent soft machines.