Li Xiaosa, Xiao Xiao, Xiao Xiao, Liu Zixiao, Gong Junhao, Lin Zenan, Xue Bing, Liu Shibo, Wu Xinru, Zhang Wei, Wang Dongkai, Zhao Runze, Wang Zihan, Zhong Xiongwei, Lin Yiliang, Chia Patrick, He Ximin, Ho John S, Ho Ghim Wei, Ouyang Wei, Ding Wenbo, Zhou Guangmin, Laschi Cecilia, Wu Changsheng
Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, P. R. China.
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583, Singapore.
Sci Adv. 2025 Sep 12;11(37):eadv9572. doi: 10.1126/sciadv.adv9572. Epub 2025 Sep 10.
Embodied intelligence in soft robotics offers unprecedented capabilities for operating in uncertain, confined, and fragile environments that challenge conventional technologies. However, achieving true embodied intelligence-which requires continuous environmental sensing, real-time control, and autonomous decision-making-faces challenges in energy management and system integration. We developed deformation-resilient flexible batteries with enhanced performance under magnetic fields inherently present in magnetically actuated soft robots, with capacity retention after 200 cycles improved from 31.3 to 57.3%. These compliant batteries enable large-area deployment of 44.9% across the robot body, and their vertical integration with rationally designed flexible hybrid circuits minimizes additional stiffness while maintaining deformability. This actuator-battery-sensor vertical integration methodology maximizes functional area utilization in a manta ray-inspired soft robot, establishing an untethered platform with sensing, communication, and stable power supply. The system demonstrates embodied intelligence in aquatic environments through diverse capabilities including perturbation correction, obstacle avoidance, and temperature monitoring, with proprioceptive and environmental sensing enabling real-time decision-making during magnetically actuated locomotion.
软机器人中的具身智能为在不确定、受限和脆弱环境中运行提供了前所未有的能力，这些环境对传统技术构成了挑战。然而，要实现真正的具身智能（这需要持续的环境感知、实时控制和自主决策），在能量管理和系统集成方面面临挑战。我们开发了在磁驱动软机器人中固有存在的磁场下具有增强性能的抗变形柔性电池，200次循环后的容量保持率从31.3%提高到了57.3%。这些柔顺电池能够在机器人身体上实现44.9%的大面积部署，并且它们与合理设计的柔性混合电路的垂直集成在保持可变形性的同时将额外的刚度降至最低。这种致动器-电池-传感器垂直集成方法在受蝠鲼启发的软机器人中最大限度地提高了功能区域利用率，建立了一个具有传感、通信和稳定电源的无系绳平台。该系统通过多种能力在水生环境中展示了具身智能，包括扰动校正、避障和温度监测，本体感觉和环境感知能够在磁驱动运动过程中实现实时决策。
