Optimization and fabrication of programmable domains for soft magnetic robots: A review.
Optimization and fabrication of programmable domains for soft magnetic robots: A review.
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DOI：
10.3389/frobt.2022.1040984
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发表时间：
2022
影响因子：
3.4
通讯作者：
Chandler JH
中科院分区：
文献类型：
--
作者：
Bacchetti A;Lloyd P;Taccola S;Fakhoury E;Cochran S;Harris RA;Valdastri P;Chandler JH
在实现用于生物医学应用的毫米级和亚毫米级功能机器人系统的目标的驱动下，磁驱动软装置领域最近受到了极大的关注。这导致了新一代的磁控制软机器人，其结构中嵌入了可编程域的模式。这种可编程磁剖面可以通过分布具有可变磁密度和磁化方向的离散域（体素）来实现，从而使磁性软机器人具有形状可编程记忆。这种方法产生了高度顺应性的，通常是生物启发的结构，非常适合小规模的生物医学应用，包括微流体传输和整形外科导管。然而，要通过改进设计和控制来释放磁性软机器人的全部潜力，其成分优化和制造仍然面临重大挑战。本文综述了磁性软机器人中可编程域的互连优化和制造方面的最新进展和挑战。通过将新型优化方法的计算能力的改进与现有和新型制造方法的分辨率，材料选择和自动化的进步相结合，可以实现可编程磁性软机器人的重大进一步发展。
Driven by the aim of realizing functional robotic systems at the milli- and submillimetre scale for biomedical applications, the area of magnetically driven soft devices has received significant recent attention. This has resulted in a new generation of magnetically controlled soft robots with patterns of embedded, programmable domains throughout their structures. This type of programmable magnetic profiling equips magnetic soft robots with shape programmable memory and can be achieved through the distribution of discrete domains (voxels) with variable magnetic densities and magnetization directions. This approach has produced highly compliant, and often bio-inspired structures that are well suited to biomedical applications at small scales, including microfluidic transport and shape-forming surgical catheters. However, to unlock the full potential of magnetic soft robots with improved designs and control, significant challenges remain in their compositional optimization and fabrication. This review considers recent advances and challenges in the interlinked optimization and fabrication aspects of programmable domains within magnetic soft robots. Through a combination of improvements in the computational capacity of novel optimization methods with advances in the resolution, material selection and automation of existing and novel fabrication methods, significant further developments in programmable magnetic soft robots may be realized.