Design and actuation of a state transformable amorphous soft robot

Abstract

Traditional solid-state magnetic robots have limited deformability due to their fixed structures, while liquid robots sacrifice stiffness and stability for deformability. To overcome these limitations, a novel state transformable amorphous soft robot, referred to as the AMS-Robot, has been developed utilizing magnetorheological fluid (MRF). This robot can swiftly transition from a Newtonian fluid state (in a weak magnetic field) to a solid Bingham plastic state (in a strong magnetic field) in response to varying magnetic fields. The locomotion of our AMS-Robot, steered by a gradient magnetic field acting on magnetic droplets, converts magnetic energy into kinetic energy and viscous dissipation, enabling functions like deformation, navigation, split-merger, and gradient crawling. Remarkably, the robot exhibits the ability to transport objects weighing approximately 150 times its own weight under a strong magnetic field. Through simulations of its movement within blood vessels, the potential of the AMS-Robot in medical applications is highlighted, showcasing its proficiency in tasks like precision drug delivery and thrombus removal. This groundbreaking approach holds significant promise for advancements in the field of medical applications.