Integration of sensing and shape-deforming capabilities for a bioinspired soft robot

Abstract

Sensing and shape-deforming are survival wisdoms that many creatures have evolved to perceive their surrounding information and protect themselves against the changes of surrounding environments. Endowing soft robots with integrated sensing and shape-deforming capabilities is critical to the development of smart soft robots, however, has not been attempted. Magnetic composites consist of soft elastomer and magnetic powders are opening up a revolutionary avenue in the fields of soft robots. Here we report a smart soft robot developed with magnetic NdFeB/Ecoflex composites that can sense and then deform under the water inspired by the sea anemone. The soft robot is composed of two parts: top soft sensing tentacles and a bottom magnetostimulated shrinkable body. When the surrounding water flow velocity increases, the soft sensing tentacles can convert the mechanical stimuli to electric signals, informing the soft robot to deform in order to avoid being swept away. Related mechanisms have been studied by Maxwell numerical simulation and Abaqus numerical calculation. Furthermore, shrinkable performances of the robot have been optimized by tuning the geometric structure and material parameters. The promising performance characteristics of such soft magnetic composites robots open new opportunities for the development of smart robots to actively adapt to harsh environments.