Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

Ziyu Ren, Metin Sitti

Published: 2023-12-14 DOI: 10.1038/s41596-023-00916-6

soft-bodied robots

multimodal locomotion

millirobots

medical applications

locomotion control

AI 解读

The GFP thermal shift assay for screening ligand and lipid interactions to solute carrier transporters

Co-fractionation–mass spectrometry to characterize native mitochondrial protein assemblies in mammalian neurons and brain

Simultaneously measuring the methylation of parent and daughter strands of replicated DNA at the single-molecule level by Hammer-seq

The Nodewalk assay to quantitate chromatin fiber interactomes in very small cell populations

Nondestructive production of exosomes loaded with ultrathin palladium nanosheets for targeted bio-orthogonal catalysis

An optimized culture system for efficient derivation of porcine expanded potential stem cells from preimplantation embryos and by reprogramming somatic cells

Engineering SARS-CoV-2 using a reverse genetic system

cfSNV: a software tool for the sensitive detection of somatic mutations from cell-free DNA

Growing and making nano- and microcrystals

Composable microfluidic spinning platforms for facile production of biomimetic perfusable hydrogel microtubes

查看全部

Sections

Figures

References

Introduction
Materials
Procedure
Troubleshooting
Timing
Anticipated results
Acknowledgements

Figure 1
Fig. 1: Magnetic soft-bodied miniature robots with multimodal locomotion capability.
Figure 2
Fig. 2: Example results of characterization of magnetic materials.
Figure 3
Fig. 3: Design of the magnetic soft-bodied miniature robots with multimodal locomotion.
Figure 4
Fig. 4: The distributions of magnetic microparticles in polymer matrixes.
Figure 5
Fig. 5: Fabrication process of the magnetic soft composite films.
Figure 6
Fig. 6: Fabrication process of the magnetic soft composite thin films with microstructures.
Figure 7
Fig. 7: Fabrication process of the magnetic soft composite films that can also respond to other nonmagnetic stimuli.
Figure 8
Fig. 7: Fabrication process of the magnetic soft composite films that can also respond to other nonmagnetic stimuli.
Figure 9
Fig. 8: Producing 3D shapes for the magnetic soft composite materials.
Figure 10
Fig. 8: Producing 3D shapes for the magnetic soft composite materials.
Figure 11
Fig. 9: Magnetizing and assembly of the soft robot components.
Figure 12
Fig. 9: Magnetizing and assembly of the soft robot components.
Figure 13
Fig. 10: Measuring the B–H curve using VSM.
Figure 14
Fig. 10: Measuring the B–H curve using VSM.
Figure 15
Fig. 11: Magnetic actuation setups for controlling the locomotion of small-scale magnetic soft robots.
Figure 16
Fig. 11: Magnetic actuation setups for controlling the locomotion of small-scale magnetic soft robots.
Figure 17
Fig. 12: Realization of different locomotion modes of the sheet-shaped robot on solid surfaces.
Figure 18
Fig. 12: Realization of different locomotion modes of the sheet-shaped robot on solid surfaces.
Figure 19
Fig. 13: Realization of locomotion modes of the sheet-shaped robot on water–air interfaces, within water, and in tubular structures with internal liquid flows.
Figure 20
Fig. 13: Realization of locomotion modes of the sheet-shaped robot on water–air interfaces, within water, and in tubular structures with internal liquid flows.
Figure 21
Fig. 14: Realization of transition modes of the sheet-shaped robot.
Figure 22
Fig. 14: Realization of transition modes of the sheet-shaped robot.
Figure 23
Fig. 15: Realization of five swimming modes of the ephyra jellyfish-inspired robot.
Figure 24
Fig. 15: Realization of five swimming modes of the ephyra jellyfish-inspired robot.
Figure 25
Fig. 16: Realization of multimodal locomotion of the larval zebrafish-inspired robot and the dual stimuli-responsive sheet-shaped robot.
Figure 26
Fig. 16: Realization of multimodal locomotion of the larval zebrafish-inspired robot and the dual stimuli-responsive sheet-shaped robot.
Figure 27
Fig. 17: Medical imaging setup for ex vivo experiments.
Figure 28
Fig. 17: Medical imaging setup for ex vivo experiments.
Figure 29
Fig. 18: Particle image velocimetry (PIV) fluid flow visualization experiments.
Figure 30
Fig. 18: Particle image velocimetry (PIV) fluid flow visualization experiments.

Wang, X. P. et al. 3D printed enzymatically biodegradable soft helical microswimmers. Adv. Funct. Mater. https://doi.org/10.1002/adfm.201804107 (2018).
Sitti, M. et al. Biomedical applications of untethered mobile milli/microrobots. Proc. IEEE. 103, 205–224 (2015).
Nelson, B. J., Kaliakatsos, I. K. & Abbott, J. J. Microrobots for minimally invasive medicine. Annu. Rev. Biomed. Eng. 12, 55–85 (2010).
Wu, Z. et al. A swarm of slippery micropropellers penetrates the vitreous body of the eye. Sci. Adv. 4, eaat4388 (2018).
Sitti, M. Mobile Microrobotics (MIT Press, 2017).
Ceylan, H., Yasa, I. C., Kilic, U., Hu, W. Q. & Sitti, M. Translational prospects of untethered medical microrobots. Prog. Biomed. Eng. https://doi.org/10.1088/2516-1091/ab22d5 (2019).
Han, M. D. et al. Submillimeter-scale multimaterial terrestrial robots. Sci. Robot. https://doi.org/10.1126/scirobotics.abn0602 (2022).
Shahsavan, H. et al. Bioinspired underwater locomotion of light-driven liquid crystal gels. Proc. Natl Acad. Sci. USA 117, 5125–5133 (2020).
Aghakhani, A., Yasa, O., Wrede, P. & Sitti, M. Acoustically powered surface-slipping mobile microrobots. Proc. Natl Acad. Sci. USA 117, 3469–3477 (2020).
Dillinger, C., Nama, N. & Ahmed, D. Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish. Nat. Commun. 12, 1–11 (2021).
Lum, G. Z. et al. Shape-programmable magnetic soft matter. Proc. Natl Acad. Sci. USA 113, E6007–E6015 (2016).
Zhang, L. et al. Artificial bacterial flagella: fabrication and magnetic control. Appl. Phys. Lett. 94, 064107 (2009).
Li, M., Pal, A., Aghakhani, A., Pena-Francesch, A. & Sitti, M. Soft actuators for real-world applications. Nat. Rev. Mater. 7, 235–249 (2022).
Sitti, M. Physical intelligence as a new paradigm. Extreme Mech. Lett. https://doi.org/10.1016/j.eml.2021.101340 (2021).
Hu, W., Lum, G. Z., Mastrangeli, M. & Sitti, M. Small-scale soft-bodied robot with multimodal locomotion. Nature 554, 81–85 (2018).
Ren, Z. et al. Soft-bodied adaptive multimodal locomotion strategies in fluid-filled confined spaces. Sci. Adv. 7, eabh2022 (2021).
Wu, Y. D., Dong, X. G., Kim, J. K., Wang, C. X. & Sitti, M. Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces. Sci. Adv. https://doi.org/10.1126/sciadv.abn3431 (2022).
Demir, S. O. et al. Task space adaptation via the learning of gait controllers of magnetic soft millirobots. Int. J. Robot. Res. 40, 1331–1351 (2021).
Ren, Z., Hu, W., Dong, X. & Sitti, M. Multi-functional soft-bodied jellyfish-like swimming. Nat. Commun. 10, 2703 (2019).
Wang, T., Ren, Z., Hu, W., Li, M. & Sitti, M. Effect of body stiffness distribution on larval fish-like efficient undulatory swimming. Sci. Adv. 7, eabf7364 (2021).
Zhang, J. et al. Liquid crystal elastomer-based magnetic composite films for reconfigurable shape-morphing soft miniature machines. Adv. Mater. 33, e2006191 (2021).
Sun, M. et al. Exploiting ferrofluidic wetting for miniature soft machines. Nat. Commun. 13, 7919 (2022).
Ze, Q. et al. Spinning-enabled wireless amphibious origami millirobot. Nat. Commun. 13, 3118 (2022).
Huang, H.-W. et al. Adaptive locomotion of artificial microswimmers. Sci. Adv. 5, eaau1532 (2019).
Xu, C., Yang, Z., Tan, S. W. K., Li, J. & Lum, G. Z. Magnetic miniature actuators with six‐degrees‐of‐freedom multimodal soft‐bodied locomotion. Adv. Intell. Syst. 4, 2100259 (2022).
Li, S. et al. Soft magnetic microrobot doped with porous silica for stability-enhanced multimodal locomotion in a nonideal environment. ACS Appl. Mater. Interfaces 14, 10856–10874 (2022).
Ju, Y. et al. Reconfigurable magnetic soft robots with multimodal locomotion. Nano Energy 87, 106169 (2021).
Huang, H., Feng, Y., Yang, X., Yang, L. & Shen, Y. An insect-inspired terrains-adaptive soft millirobot with multimodal locomotion and transportation capability. Micromachines 13, 1578 (2022).
Joyee, E. B., Szmelter, A., Eddington, D. & Pan, Y. 3D printed biomimetic soft robot with multimodal locomotion and multifunctionality. Soft Robot. 9, 1–13 (2022).
Du, X. M. et al. Reconfiguration, camouflage, and color-shifting for bioinspired adaptive hydrogel-based millirobots. Adv. Funct. Mater. https://doi.org/10.1002/adfm.201909202 (2020).
Diller, E., Giltinan, J., Lum, G. Z., Ye, Z. & Sitti, M. Six-degree-of-freedom magnetic actuation for wireless microrobotics. Int. J. Robot. Res. 35, 114–128 (2016).
Kim, Y., Yuk, H., Zhao, R., Chester, S. A. & Zhao, X. Printing ferromagnetic domains for untethered fast-transforming soft materials. Nature 558, 274–279 (2018).
Xu, T., Zhang, J., Salehizadeh, M., Onaizah, O. & Diller, E. Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions. Sci. Robot. 4, eaav4494 (2019).
Saver, J. L. et al. Thrombectomy for distal, medium vessel occlusions a consensus statement on present knowledge and promising directions. Stroke 51, 2872–2884 (2020).
Binhas, M., Motamed, C., Hawajri, N., Yiou, R. & Marty, J. Predictors of catheter-related bladder discomfort in the post-anaesthesia care unit. Ann. Fr. Anesth. 30, 122–125 (2011).
Bai, Y. J. et al. Management of catheter-related bladder discomfort in patients who underwent elective surgery. J. Endourol. 29, 640–649 (2015).
Lucas, K. N. et al. Bending rules for animal propulsion. Nat. Commun. 5, 3293 (2014).
Zhang, J. et al. Voxelated three-dimensional miniature magnetic soft machines via multimaterial heterogeneous assembly. Sci. Robot. 6, eabf0112 (2021).
Xu, T. T. et al. Multimodal locomotion control of needle-like microrobots assembled by ferromagnetic nanoparticles. IEEE ASMA Trans. Mechatron. 27, 4327–4338 (2022).
Yu, S. et al. Trimer-like microrobots with multimodal locomotion and reconfigurable capabilities. Mater. Today Adv. https://doi.org/10.1016/j.mtadv.2022.100231 (2022).
Chen, X., Tian, C. Y., Zhang, H. & Xie, H. Biodegradable magnetic hydrogel robot with multimodal locomotion for targeted cargo delivery. ACS Appl. Mater. Interfaces 15, 28922–28932 (2023).
Ramos-Sebastian, A., Lee, J. S. & Kim, S. H. Multimodal locomotion of magnetic droplet robots using orthogonal pairs of coils. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202300133 (2023).
Xie, H. et al. Reconfigurable magnetic microrobot swarm: Multimode transformation, locomotion, and manipulation. Sci. Robot. 4, eaav8006 (2019).
Zhang, R., Wu, S., Ze, Q. & Zhao, R. Micromechanics study on actuation efficiency of hard-magnetic soft active materials. J. Appl. Mech. 87, 091008 (2020).
Wang, T. et al. Adaptive wireless millirobotic locomotion into distal vasculature. Nat. Commun 13, 4465 (2022).
Alapan, Y., Karacakol, A. C., Guzelhan, S. N., Isik, I. & Sitti, M. Reprogrammable shape morphing of magnetic soft machines. Sci. Adv. https://doi.org/10.1126/sciadv.abc6414 (2020).
Alapan, Y., Bozuyuk, U., Erkoc, P., Karacakol, A. C. & Sitti, M. Multifunctional surface microrollers for targeted cargo delivery in physiological blood flow. Sci. Robot. 5, eaba5726 (2020).
Bozuyuk, U., Alapan, Y., Aghakhani, A., Yunusa, M. & Sitti, M. Shape anisotropy-governed locomotion of surface microrollers on vessel-like microtopographies against physiological flows. Proc. Natl Acad. Sci. USA https://doi.org/10.1073/pnas.2022090118 (2021).
Bozuyuk, U. et al. Reduced rotational flows enable the translation of surface-rolling microrobots in confined spaces. Nat. Commun. https://doi.org/10.1038/s41467-022-34023-z (2022).
Wang, W. D. et al. Order and information in the patterns of spinning magnetic micro-disks at the air-water interface. Sci. Adv. https://doi.org/10.1126/sciadv.abk0685 (2022).
Gardi, G., Ceron, S., Wang, W. D., Petersen, K. & Sitti, M. Microrobot collectives with reconfigurable morphologies, behaviors, and functions. Nat. Commun. https://doi.org/10.1038/s41467-022-29882-5 (2022).
Hu, X. H. et al. Magnetic soft micromachines made of linked microactuator networks. Sci. Adv. https://doi.org/10.1126/sciadv.abe8436 (2021).
Goudu, S. R. et al. Biodegradable untethered magnetic hydrogel milli-grippers. Adv. Funct. Mater. 30, 2004975 (2020).
Fan, X. J., Dong, X. G., Karacakol, A. C., Xie, H. & Sitti, M. Reconfigurable multifunctional ferrofluid droplet robots. Proc. Natl Acad. Sci. USA 117, 27916–27926 (2020).
Giltinan, J., Sridhar, V., Bozuyuk, U., Sheehan, D. & Sitti, M. 3D microprinting of iron platinum nanoparticle‐based magnetic mobile microrobots. Adv. Intell. Syst. 3, 2000204 (2021).
Zhang, S. Z. et al. 3D-printed micrometer-scale wireless magnetic cilia with metachronal programmability. Sci. Adv. https://doi.org/10.1126/sciadv.adf9462 (2023).
Bozuyuk, U. et al. High-performance magnetic FePt (L1(0)) surface microrollers towards medical imaging-guided endovascular delivery applications. Adv. Funct. Mater. https://doi.org/10.1002/adfm.202109741 (2022).
Ren, L. L., Zeng, X. L., Sun, R., Xu, J. B. & Wong, C. P. Spray-assisted assembled spherical boron nitride as fillers for polymers with enhanced thermally conductivity. Chem: Eng. J. 370, 166–175 (2019).
Guan, S. W., Su, Z. R., Chen, F. & Fu, Q. Spherical hybrid filler BN@Al2O3 via chemical adhesive for enhancing thermal conductivity and processability of silicon rubber. J. Appl. Polym. Sci. https://doi.org/10.1002/app.51211 (2021).
Zheng, Z. Q. et al. Programmable aniso-electrodeposited modular hydrogel microrobots. Sci. Adv. https://doi.org/10.1126/sciadv.ade6135 (2022).
Ceylan, H. et al. 3D-printed biodegradable microswimmer for theranostic cargo delivery and release. ACS Nano 13, 3353–3362 (2019).
Pena-Francesch, A., Jung, H. H., Demirel, M. C. & Sitti, M. Biosynthetic self-healing materials for soft machines. Nat. Mater. 19, 1230–1235 (2020).
Pena-Francesch, A., Giltinan, J. & Sitti, M. Multifunctional and biodegradable self-propelled protein motors. Nat. Commun. https://doi.org/10.1038/s41467-019-11141-9 (2019).
Ceylan, H. et al. 3D printed personalized magnetic micromachines from patient blood-derived biomaterials. Sci. Adv. https://doi.org/10.1126/sciadv.abh0273 (2021).
Zhang, J., Soon, R. H., Wei, Z., Hu, W. & Sitti, M. Liquid metal–elastomer composites with dual-energy transmission mode for multifunctional miniature untethered magnetic robots. Adv. Sci. https://doi.org/10.1002/advs.202203730 (2022).
Ze, Q. J. et al. Magnetic shape memory polymers with integrated multifunctional shape manipulation. Adv. Mater. https://doi.org/10.1002/adma.201906657 (2020).
Zhang, J., Guo, Y., Hu, W. & Sitti, M. Wirelessly actuated thermo- and magneto-responsive soft bimorph materials with programmable shape-morphing. Adv. Mater. 33, e2100336 (2021).
Davidson, Z. S. et al. Monolithic shape-programmable dielectric liquid crystal elastomer actuators. Sci. Adv. https://doi.org/10.1126/sciadv.aay0855 (2019).
Tang, Y. et al. Wireless miniature magnetic phase-change soft actuators. Adv. Mater. https://doi.org/10.1002/adma.202204185 (2022).
Wang, L. et al. Evolutionary design of magnetic soft continuum robots. Proc. Natl Acad. Sci. USA https://doi.org/10.1073/pnas.2021922118 (2021).
Lloyd, P. et al. A learnt approach for the design of magnetically actuated shape forming soft tentacle robots. IEEE Robot. Autom. Lett. 5, 3937–3944 (2020).
Pittiglio, G. et al. Patient-specific magnetic catheters for atraumatic autonomous endoscopy. Soft Robot. 9, 1120–1133 (2022).
Wu, S. et al. Evolutionary algorithm-guided voxel-encoding printing of functional hard-magnetic soft active materials. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202000060 (2020).
Dong, X. et al. Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination. Sci. Adv. 6, eabc9323 (2020).
Ren, Z., Wang, T., Hu, W. & Sitti, M. in A magnetically-actuated untethered jellyfish-inspired soft milliswimmer. In Proc. Robotics: Science and Systems (2019).
Cui, J. et al. Nanomagnetic encoding of shape-morphing micromachines. Nature 575, 164–168 (2019).
Liu, Z. et al. Creating three-dimensional magnetic functional microdevices via molding-integrated direct laser writing. Nat. Commun. 13, 2016 (2022).
Kummer, M. P. et al. OctoMag: an electromagnetic system for 5-DOF wireless micromanipulation. IEEE Trans. Robot. 26, 1006–1017 (2010).
Petruska, A. J. & Abbott, J. J. Optimal permanent-magnet geometries for dipole field approximation. IEEE Trans. Magnet. 49, 811–819 (2013).
Kim, Y. et al. Telerobotic neurovascular interventions with magnetic manipulation. Sci. Robot. https://doi.org/10.5061/dryad.8pk0p2nq8 (2022).
Hong, C. et al. Magnetically actuated gearbox for the wireless control of millimeter-scale robots. Sci. Robot. 7, eabo4401 (2022).
Wang, T. L., Hu, W. Q., Ren, Z. Y. & Sitti, M. Ultrasound-guided wireless tubular robotic anchoring system. IEEE Robot. Autom. Lett. 5, 4859–4866 (2020).
Wang, C., Wu, Y., Dong, X., Armacki, M. & Sitti, M. In situ sensing physiological properties of biological tissues using wireless miniature soft robots. Sci. Adv. https://doi.org/10.1126/sciadv.adg398 (2023).
Hines, L., Arabagi, V. & Sitti, M. Shape memory polymer-based flexure stiffness control in a miniature flapping-wing robot. IEEE Trans. Robot. 28, 987–990 (2012).
Thomas, T. L., Bos, J., Huaroto, J. J., Kalpathy Venkiteswaran, V. & Misra, S. A magnetically actuated variable stiffness manipulator based on deployable shape memory polymer springs. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202200465 (2023).
Culha, U., Demir, S. O., Trimpe, S. & Sitti, M. Learning of sub-optimal gait controllers for magnetic walking soft millirobots. In Proc. Robotics: Science and Systems Xvi (2020).
GPy. GPy: a Gaussian process framework in python. Github http://github.com/SheffieldML/GPy (2012).
Thurston, J. NCRP Report No. 160. Ionizing Radiation Exposure of the Population of the United States (IOP Publishing, 2010).
Deng, H. et al. Laser reprogramming magnetic anisotropy in soft composites for reconfigurable 3D shaping. Nat. Commun. 11, 6325 (2020).
Zhu, H. L., He, Y. F., Wang, Y., Zhao, Y. & Jiang, C. Mechanically-guided 4D printing of magnetoresponsive soft materials across different length scale. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202100137 (2022).
Tang, J. D. et al. 3D printable, tough, magnetic hydrogels with programmed magnetization for fast actuation. J. Mater. Chem. B 9, 9183–9190 (2021).
Zhang, Y. X. et al. 4D printing of magnetoactive soft materials for on-demand magnetic actuation transformation. ACS Appl. Mater. Interfaces 13, 4174–4184 (2021).
Ke, X. et al. Flexible discretely-magnetized configurable soft robots via laser-tuned selective transfer printing of anisotropic ferromagnetic cells. Mater. Today Phys. https://doi.org/10.1016/j.mtphys.2020.100313 (2021).
Zhu, H. L., Wang, Y., Ge, Y. W., Zhao, Y. & Jiang, C. Kirigami-inspired programmable soft magnetoresponsive actuators with versatile morphing modes. Adv. Sci. https://doi.org/10.1002/advs.202203711 (2022).
Li, R. et al. Magnetically encoded 3D mesostructure with high-order shape morphing and high-frequency actuation. Natl Sci. Rev. https://doi.org/10.1093/nsr/nwac163 (2022).
Dong, Y. et al. Untethered small-scale magnetic soft robot with programmable magnetization and integrated multifunctional modules. Sci. Adv. https://doi.org/10.1126/sciadv.abn8932 (2022).
Yi, S. Z. et al. High-throughput fabrication of soft magneto-origami machines. Nat. Commun. https://doi.org/10.1038/s41467-022-31900-5 (2022).
Sun, B. N. et al. Magnetic arthropod millirobots fabricated by 3D-printed hydrogels. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202100139 (2022).
Sun, Y. X. et al. 3D printing of thermosets with diverse rheological and functional applicabilities. Nat. Commun. https://doi.org/10.1038/s41467-023-35929-y (2023).
Ansari, M. H. D. et al. 3D printing of small-scale soft robots with programmable magnetization. Adv. Funct. Mater. https://doi.org/10.1002/adfm.202211918 (2023).
Li, Z. X., Lai, Y. P. & Diller, E. 3D printing of multilayer magnetic miniature soft robots with programmable magnetization. Adv. Intell. Syst. https://doi.org/10.1002/aisy.202300052 (2023).
Zhang, J. & Diller, E. Untethered miniature soft robots: modeling and design of a millimeter-scale swimming magnetic sheet. Soft Robot. 5, 761–776 (2018).
Soon, R. H. et al. On-demand anchoring of wireless soft miniature robots on soft surfaces. Proc. Natl Acad. Sci. USA https://doi.org/10.1073/pnas.2207767119 (2022).

Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

推荐阅读