Buranabunwong Chayut, Li Xingxiang, Nong Shutong, Sun Boxi, Sun Yuxuan, Zhang Shiwu, Li Mujun
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, P.R. China.
ACS Appl Mater Interfaces. 2025 Jan 15;17(2):3930-3940. doi: 10.1021/acsami.4c18242. Epub 2024 Dec 31.
Magneto-responsive soft actuators hold significant promise in soft robotics due to their rapid responsiveness and untethered operation. However, controlling their deformations presents challenges because of their inherent flexibility and high degrees of freedom. Here, we present a magnetically driven bistable dome-shaped soft actuator that simplifies deformation by limiting it to two distinct states. The actuator achieves controlled state transitions by switching the orientation of external magnetic fields. We investigate the design strategy and magnetization styles of the dome-shaped soft actuator. Additionally, we analyze their effects on state transitions. The bistable dome undergoes significant volume changes reliably and smoothly during deformation, and its natural curvature makes it suitable for tasks involving rolling motion. We demonstrate the actuator's effectiveness in various applications, including an array of bistable domes for controlled actuation, a magnetically driven pulse pump with integrated check valves, and a ball-shaped bistable robot capable of efficient rolling locomotion and fluid manipulation. Our design significantly enhances the versatility and efficiency of bistable soft robotic systems, highlighting their potential for tasks such as liquid collection and release.
磁响应软驱动器因其快速响应能力和无缆线操作，在软机器人领域具有巨大潜力。然而，由于其固有的灵活性和高自由度，控制其变形具有挑战性。在此，我们展示了一种磁驱动双稳态圆顶形软驱动器，它通过将变形限制在两种不同状态来简化变形过程。该驱动器通过切换外部磁场的方向实现可控的状态转换。我们研究了圆顶形软驱动器的设计策略和磁化方式。此外，我们分析了它们对状态转换的影响。双稳态圆顶在变形过程中可靠且平稳地经历显著的体积变化，其天然曲率使其适用于涉及滚动运动的任务。我们展示了该驱动器在各种应用中的有效性，包括用于可控驱动的双稳态圆顶阵列、带有集成止回阀的磁驱动脉冲泵，以及能够进行高效滚动运动和流体操纵的球形双稳态机器人。我们的设计显著提高了双稳态软机器人系统的通用性和效率，突出了它们在液体收集和释放等任务中的潜力。
