Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ...Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.展开更多
The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by...The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by nature and biological principles,has brought numerous benefits across various applications,ranging from industrial automation to underwater exploration.Advances in actuation mechanisms,sensing technology,and control systems have expanded the potential of these robots,enabling them to navigate complex,unstructured environments with unparalleled adaptability.This special issue on“Biomimetic soft robotics:actuation,sensing,and integration”includes seven research articles.展开更多
Soft robots,characterized by compliance,adaptability,and multimodal responsiveness,represent a rapidly advancing frontier in biomedical applications,wearable technologies,and environmental exploration.This review summ...Soft robots,characterized by compliance,adaptability,and multimodal responsiveness,represent a rapidly advancing frontier in biomedical applications,wearable technologies,and environmental exploration.This review summarizes recent progress in soft robotics with a focus on material innovation,structural design,functional integration,and intelligent responsiveness.Emphasis is placed on the development of bioinspired and stimuli-responsive materials,the construction of modular and reconfigurable architectures,and the integration of actuation,sensing,and energy systems.Microneedle array-based soft robots and hydrogel-based 4D-printed systems are introduced as representative platforms for drug delivery,wound healing,and environmental monitoring.Key challenges,including limited durability,power autonomy,and multifunctional synergy,are critically analyzed in relation to practical operation and long-term reliability.Future directions involve the convergence of self-healing materials,intelligent control algorithms,and multiscale integration strategies to achieve enhanced adaptability and clinical translation.This review provides a comprehensive overview of the interdisciplinary development of next-generation soft robots that bridge materials science,biomedical engineering,and intelligent systems,paving the way toward real-world applications.展开更多
Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integra...Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integrated sensing and actuating performances.The actuating layer,made of p(NIPAm-HEMA),features an open pore structure,enabling it to achieve 58%volume shrinkage in just 8 s.The customizable heater allows for efficient programmable deformation of the actuating layer.A strain-responsive hydrogel layer,with a linear response of up to 50%strain,is designed to sense the deformation process.Leveraging these actuating and sensing capabilities,we develop an integrated hydrogel muscle that can recognize lifted objects with various weights or grasped objects of different sizes.Furthermore,we demonstrate a self-crawling robot to showcase the application potential of the hydrogel muscle for soft robots working in aquatic environments.This robot,featuring a modular distributed sensing and actuating layer,can autonomously move forward under closed-loop control based on self-detected resistance signals.The strategy of modular distributed stimuli-responsive sensing and actuating materials offers unprecedented capabilities for creating smart and multifunctional soft robotics.展开更多
Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limit...Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and sof...Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and soft robotics.Particularly,anisotropic e-skins have garnered extensive research attention due to their unique directional properties.Nevertheless,the continuous interference from diverse stimuli and intricate environments,along with low sensitivity,have hindered the further widespread application of anisotropic e-skin.Here,we present a transparent e-skin exhibiting remarkable anisotropic strain sensing performance,along with exceptional resilience against interference from other stimuli and harsh environments.Benefiting from the synergistic coexistence of aligned silver nanowires wrinkles and cracks,the e-skin achieves outstanding anisotropy showcasing maximum strain gauge factors(GFs)difference of 2825 and 0.69 along two perpendicular directions,exceeding a difference of more than 4000 times.Furthermore,the e-skin displays superior anti-interference capability,evidenced by a resistance change of less than 6%when subjected to high pressure(663 kPa),torsion(540°),or bending(180°),and exhibits negligible performance degradation even after exposure to harsh environments.Finally,our e-skin is successfully applied to undisturbed predicting crack propagation and precise control of dual-mode soft robots,highlighting its immense potential in structural damage warning and intelligent robotics.展开更多
In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the ...In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.展开更多
With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and...With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.展开更多
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w...Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.展开更多
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Fecal incontinence(FI),which can arise from various pathogenic mechanisms,has attracted considerable attention worldwide.Despite its importance,the reproduction of the defecatory system to study the mechanisms of FI r...Fecal incontinence(FI),which can arise from various pathogenic mechanisms,has attracted considerable attention worldwide.Despite its importance,the reproduction of the defecatory system to study the mechanisms of FI remains limited,largely because of social stigma and being considered inappropriate.Inspired by the rectum’s functionalities,we developed a soft robotic system that includes a power supply,pressure sensors,data acquisition systems,a flushing mechanism,stages,and a rectal module.Specifically,the innovative soft rectal module includes actuators inspired by sphincter muscles,both soft and rigid covers,and a soft rectum mold.The rectal mold,which was fabricated from materials that mimic human rectal tissue,was produced using a mold replication fabrication method.Both the soft and rigid components of the mold were created using three-dimensional(3D)printing technology.In addition,the sphincter muscle-inspired actuators featured double-layer pouch structures that were modeled and optimized based on multilayer perceptron methods to obtain a high contraction ratio(100%),generate high pressure(9.8 kPa),and have a short recovery time(3 s).Upon assembly,this defecation robot could smoothly expel liquid feces,perform controlled solid fecal cutting,and defecate extremely solid long feces,thus closely replicating the functions of the human rectum and anal canal.This defecation robot has the potential to facilitate human understanding of the complex defecation system and contribute to the development of improved quality-of-life devices related to defecation.展开更多
Local precise drug delivery is conducive to improving therapeutic efficacy and minimizing off-target toxicity.Current local delivery approaches are focused mostly on superficial or postoperative tumor lesions,due to t...Local precise drug delivery is conducive to improving therapeutic efficacy and minimizing off-target toxicity.Current local delivery approaches are focused mostly on superficial or postoperative tumor lesions,due to the challenges posed by the inaccessibility of deep-seated tumors.Herein,we report a magnetic continuum soft robot capable of non-invasive and site-specific delivery of prodrug nanoassemblies-loaded hydrogel.The nanoassemblies are co-assembled from redox-responsive docetaxel prodrug and oxaliplatin prodrug,and subsequently embedded into a hydrogel matrix.The hydrogel precursor and crosslinker are synchronously delivered using the soft robot under magnetic guidance and in situ crosslinked at the gastric cancer lesions,forming a drug depot for sustained release and long-lasting treatment.As the hydrogel gradually degrades,the nanoassemblies are internalized by tumor cells.The redox response ability enables them to be selectively activatedwithin tumor cells to trigger the release of docetaxel and oxaliplatin,exerting a synergistic anti-tumor effect.We find that the combination effectively induces immunogenic cell death of gastric tumor,enhancing antitumor immune responses.This strategy offers an intelligent and controllable integration platform for precise drug delivery and combined chemo-immunotherapy.展开更多
Autonomous,adaptable,and multimodal locomotion capabilities,which are crucial for the advanced intelligence of biological systems.A prominent focus of investigations in the domain of bionic soft robotics pertains to t...Autonomous,adaptable,and multimodal locomotion capabilities,which are crucial for the advanced intelligence of biological systems.A prominent focus of investigations in the domain of bionic soft robotics pertains to the emulation of autonomous motion,as observed in natural organisms.This research endeavor faces the challenge of enabling spontaneous and sustained motion in soft robots without relying on external stimuli.Considerable progress has been made in the development of autonomous bionic soft robots that utilize smart polymer materials,particularly in the realms of material design,microfabrication technology,and operational mechanisms.Nonetheless,there remains a conspicuous deficiency in the literature concerning a thorough review of this subject matter.This study aims to provide a comprehensive review of autonomous soft robots that have been developed based on self-regulation strategies that encompass self-propulsion,self-oscillation,multistimulus response,and topological constraint structures.Furthermore,this review engages in an in-depth discussion regarding their tunable selfsustaining motion and recovery capabilities,while also contemplating the future development of autonomous soft robotic systems and their potential applications in fields such as biomechanics.展开更多
Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary cha...Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.展开更多
Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators d...Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.展开更多
Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic...Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic soft robot that integrates two distinct bio-inspired locomotion modes for enhanced interface navigation.Inspired by water striders’superhydrophobic legs and the meniscus climbing behavior of Pyrrhalta nymphaeae larvae,we developed a rectangular sheet-based robot with hydrophobic surface treatment and novel control strategies.The proposed robot implements two locomotion modes:a bipedal peristaltic locomotion mode(BPLM)and a single-region contact-vibration locomotion mode(SCLM).The BPLM achieves stable movement at 20 mm/s through coordinated front-rear contact points,whereas the SCLM reaches an ultrafast speed of 52 mm/s by optimizing surface tension interactions.The proposed robot demonstrates precise trajectory control with minimal deviations and successfully navigates confined spaces while manipulating objects.Theoretical analysis and experimental validation demonstrate that the integration of triangular wave control signals and steady-state components enables smooth transitions between locomotion modes.This study presents a new paradigm for bio-inspired design of small-scale robots and demonstrates the potential for medical applications requiring precise navigation across multiple terrains.展开更多
文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.
文摘The field of soft robotics has witnessed impressive progress in recent decades,driven by the necessity to develop robotic systems that are more adaptable,flexible,and user-friendly.Biomimetic soft robotics,inspired by nature and biological principles,has brought numerous benefits across various applications,ranging from industrial automation to underwater exploration.Advances in actuation mechanisms,sensing technology,and control systems have expanded the potential of these robots,enabling them to navigate complex,unstructured environments with unparalleled adaptability.This special issue on“Biomimetic soft robotics:actuation,sensing,and integration”includes seven research articles.
基金financial support from the National Key Research and Development Program of China(2024YFA0919100)the National Natural Science Foundation of China(32371435)+2 种基金the Qinglan Project of Jiangsu Province(2025 Excellent Young Scholar,Bingbing Gao)the Jiangsu government scholarship for overseas studies(Bingbing Gao)the Nanjing Tech University Teaching Reform Project(20250281)。
文摘Soft robots,characterized by compliance,adaptability,and multimodal responsiveness,represent a rapidly advancing frontier in biomedical applications,wearable technologies,and environmental exploration.This review summarizes recent progress in soft robotics with a focus on material innovation,structural design,functional integration,and intelligent responsiveness.Emphasis is placed on the development of bioinspired and stimuli-responsive materials,the construction of modular and reconfigurable architectures,and the integration of actuation,sensing,and energy systems.Microneedle array-based soft robots and hydrogel-based 4D-printed systems are introduced as representative platforms for drug delivery,wound healing,and environmental monitoring.Key challenges,including limited durability,power autonomy,and multifunctional synergy,are critically analyzed in relation to practical operation and long-term reliability.Future directions involve the convergence of self-healing materials,intelligent control algorithms,and multiscale integration strategies to achieve enhanced adaptability and clinical translation.This review provides a comprehensive overview of the interdisciplinary development of next-generation soft robots that bridge materials science,biomedical engineering,and intelligent systems,paving the way toward real-world applications.
基金supported by the Science and Technology Development Fund of Macao SAR(File No.0117/2024/AMJ)the University of Macao(MYRGGRG2023-00041-FST-UMDF,MYRG-GRG2024-00121-FST-UMDF,MYRGCRG2024-00014-FST-ICI).
文摘Achieving autonomously responding to external stimuli and providing real-time feedback on their motion state are key challenges in soft robotics.Herein,we propose an asymmetric three-layer hydrogel muscle with integrated sensing and actuating performances.The actuating layer,made of p(NIPAm-HEMA),features an open pore structure,enabling it to achieve 58%volume shrinkage in just 8 s.The customizable heater allows for efficient programmable deformation of the actuating layer.A strain-responsive hydrogel layer,with a linear response of up to 50%strain,is designed to sense the deformation process.Leveraging these actuating and sensing capabilities,we develop an integrated hydrogel muscle that can recognize lifted objects with various weights or grasped objects of different sizes.Furthermore,we demonstrate a self-crawling robot to showcase the application potential of the hydrogel muscle for soft robots working in aquatic environments.This robot,featuring a modular distributed sensing and actuating layer,can autonomously move forward under closed-loop control based on self-detected resistance signals.The strategy of modular distributed stimuli-responsive sensing and actuating materials offers unprecedented capabilities for creating smart and multifunctional soft robotics.
基金National Research Foundation of Korea,Grant/Award Numbers:NRF-2022R1A4A3032923,RS-2023-00214236,RS-2024-00352352South Korean Ministry of Trade,Industry and Energy,Grant/Award Number:RS-2022-00154781National Research Council of Science and Technology,Grant/Award Number:CRC230231-000。
文摘Recently,the intelligent strategies for adapting to multiple challengeable surfaces of electroactive programmable materials integrated with bio-inspired architectures offer expanded directions beyond traditional limitations in soft grippers,medical mobile robots,and XR(Extended Reality)interfaces.These electroactive programmable adhesive materials are adaptively designed for a variety of complex surfaces,including soft,wet,non-flat,or contamination-susceptible feature such as bio-surfaces and vulnerable objects.They can be produced via solution-based methods of replica coating or 3/4-dimensional printing.The integration of electroactive programmable materials and intelligent adhesive architecture enables super-adaptive switchable adhesion to a variety of complex surfaces through control of physical deformation and mechanical properties at the adhesive interface,presenting a breakthrough in soft electro-robotics and extended reality(XR)Haptic interfaces technology.These surface-adaptive platform can provide multiple functionalities that can efficiently control physical deformations of soft bioinspired architectures or transfer physical energy(heat,vibration,pressure)into the engaged surfaces in a lightweight and human-friendly form.This review focuses on intelligent strategies,principles,design,and fabrication methods of super-adaptive electroactive programmable materials intelligently combined with bioinspired switchable adhesives for next-generation human–robot interaction devices,along with current challenges and prospects.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
基金supported by the National Natural Science Foundation of China(No.22175164)Strategic Priority Research Program of the Chinese Academy of Sciences(No.XDB0450402)。
文摘Electronic skin(e-skin),capable of perceiving various external stimuli,has emerged as a ubiquitous technology in the field of flexible electronics,finding diverse applications in healthcare systems,prosthetics,and soft robotics.Particularly,anisotropic e-skins have garnered extensive research attention due to their unique directional properties.Nevertheless,the continuous interference from diverse stimuli and intricate environments,along with low sensitivity,have hindered the further widespread application of anisotropic e-skin.Here,we present a transparent e-skin exhibiting remarkable anisotropic strain sensing performance,along with exceptional resilience against interference from other stimuli and harsh environments.Benefiting from the synergistic coexistence of aligned silver nanowires wrinkles and cracks,the e-skin achieves outstanding anisotropy showcasing maximum strain gauge factors(GFs)difference of 2825 and 0.69 along two perpendicular directions,exceeding a difference of more than 4000 times.Furthermore,the e-skin displays superior anti-interference capability,evidenced by a resistance change of less than 6%when subjected to high pressure(663 kPa),torsion(540°),or bending(180°),and exhibits negligible performance degradation even after exposure to harsh environments.Finally,our e-skin is successfully applied to undisturbed predicting crack propagation and precise control of dual-mode soft robots,highlighting its immense potential in structural damage warning and intelligent robotics.
基金financially supported by the Natural Science Foundation of Jiangsu Province,China(No.BK 20221502)the National Natural Science Foundation of China(No.42477147)。
文摘In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB 1309800)National Natural Science Foundation of China(Grant Nos.62173197,91848206)Beijing Science&Technology Project(Grant No.Z191100008019008).
文摘With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
基金the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金supported by Grant-in-Aid for Scientific Research on Innovative Areas from the Japan Society for the Promotion of Science(Nos.18H05473 and 23K13290).
文摘Fecal incontinence(FI),which can arise from various pathogenic mechanisms,has attracted considerable attention worldwide.Despite its importance,the reproduction of the defecatory system to study the mechanisms of FI remains limited,largely because of social stigma and being considered inappropriate.Inspired by the rectum’s functionalities,we developed a soft robotic system that includes a power supply,pressure sensors,data acquisition systems,a flushing mechanism,stages,and a rectal module.Specifically,the innovative soft rectal module includes actuators inspired by sphincter muscles,both soft and rigid covers,and a soft rectum mold.The rectal mold,which was fabricated from materials that mimic human rectal tissue,was produced using a mold replication fabrication method.Both the soft and rigid components of the mold were created using three-dimensional(3D)printing technology.In addition,the sphincter muscle-inspired actuators featured double-layer pouch structures that were modeled and optimized based on multilayer perceptron methods to obtain a high contraction ratio(100%),generate high pressure(9.8 kPa),and have a short recovery time(3 s).Upon assembly,this defecation robot could smoothly expel liquid feces,perform controlled solid fecal cutting,and defecate extremely solid long feces,thus closely replicating the functions of the human rectum and anal canal.This defecation robot has the potential to facilitate human understanding of the complex defecation system and contribute to the development of improved quality-of-life devices related to defecation.
基金supported by National Natural Science Foundation of China(No.82161138029)Liaoning Revitalization Talents Program(No.XLYC2402040)the Project of China-Japan Joint International Laboratory of Advanced Drug Delivery System Research and Translation of Liaoning Province(No.2024JH2/102100007).
文摘Local precise drug delivery is conducive to improving therapeutic efficacy and minimizing off-target toxicity.Current local delivery approaches are focused mostly on superficial or postoperative tumor lesions,due to the challenges posed by the inaccessibility of deep-seated tumors.Herein,we report a magnetic continuum soft robot capable of non-invasive and site-specific delivery of prodrug nanoassemblies-loaded hydrogel.The nanoassemblies are co-assembled from redox-responsive docetaxel prodrug and oxaliplatin prodrug,and subsequently embedded into a hydrogel matrix.The hydrogel precursor and crosslinker are synchronously delivered using the soft robot under magnetic guidance and in situ crosslinked at the gastric cancer lesions,forming a drug depot for sustained release and long-lasting treatment.As the hydrogel gradually degrades,the nanoassemblies are internalized by tumor cells.The redox response ability enables them to be selectively activatedwithin tumor cells to trigger the release of docetaxel and oxaliplatin,exerting a synergistic anti-tumor effect.We find that the combination effectively induces immunogenic cell death of gastric tumor,enhancing antitumor immune responses.This strategy offers an intelligent and controllable integration platform for precise drug delivery and combined chemo-immunotherapy.
基金supported by the National Natural Science Foundation of China(Nos.52275290 and 51905222)the Research Project of State Key Laboratory of Mechanical System and Oscillation(No.MSV202419)+2 种基金Major Program of the National Natural Science Foundation of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(No.92248301)Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education),Jilin University(No.KF2023006)Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.SJCX23_2091)。
文摘Autonomous,adaptable,and multimodal locomotion capabilities,which are crucial for the advanced intelligence of biological systems.A prominent focus of investigations in the domain of bionic soft robotics pertains to the emulation of autonomous motion,as observed in natural organisms.This research endeavor faces the challenge of enabling spontaneous and sustained motion in soft robots without relying on external stimuli.Considerable progress has been made in the development of autonomous bionic soft robots that utilize smart polymer materials,particularly in the realms of material design,microfabrication technology,and operational mechanisms.Nonetheless,there remains a conspicuous deficiency in the literature concerning a thorough review of this subject matter.This study aims to provide a comprehensive review of autonomous soft robots that have been developed based on self-regulation strategies that encompass self-propulsion,self-oscillation,multistimulus response,and topological constraint structures.Furthermore,this review engages in an in-depth discussion regarding their tunable selfsustaining motion and recovery capabilities,while also contemplating the future development of autonomous soft robotic systems and their potential applications in fields such as biomechanics.
文摘Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.
基金support provided by the Hong Kong RGC Theme-based Research Scheme(No.AoE/M-402/20)Hong Kong RGC Area of Excellence Scheme(No.AoE/E-101/23-N)+1 种基金Hong Kong RGC Theme-based Research Scheme(No.T45-406/23-R)the Hong Kong Innovation and Technology Commission via the Hong Kong Branch of National Precious Metals Material Engineering Research Center.
文摘Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.
基金supported by the Shenzhen Science and Technology Program(Nos.JCYJ20210324132810026,KQTD20210811090146075,and GXWD20220811164014001)the National Natural Science Foundation of China(Nos.52375175,52005128,62473277,and 52475075)+4 种基金the National Key Research and Development Program of China(No.2022YFC3802302)Guangdong Basic and Applied Basic Research Foundation(No.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(No.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(No.SYC2022044)a grant from Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,and grants from Jiangsu Qinglan Project and Jiangsu 333 High-level Talents.
文摘Small-scale magnetic soft robots are promising candidates for minimally invasive medical applications;however,they struggle to achieve efficient locomotion across various interfaces.In this study,we propose a magnetic soft robot that integrates two distinct bio-inspired locomotion modes for enhanced interface navigation.Inspired by water striders’superhydrophobic legs and the meniscus climbing behavior of Pyrrhalta nymphaeae larvae,we developed a rectangular sheet-based robot with hydrophobic surface treatment and novel control strategies.The proposed robot implements two locomotion modes:a bipedal peristaltic locomotion mode(BPLM)and a single-region contact-vibration locomotion mode(SCLM).The BPLM achieves stable movement at 20 mm/s through coordinated front-rear contact points,whereas the SCLM reaches an ultrafast speed of 52 mm/s by optimizing surface tension interactions.The proposed robot demonstrates precise trajectory control with minimal deviations and successfully navigates confined spaces while manipulating objects.Theoretical analysis and experimental validation demonstrate that the integration of triangular wave control signals and steady-state components enables smooth transitions between locomotion modes.This study presents a new paradigm for bio-inspired design of small-scale robots and demonstrates the potential for medical applications requiring precise navigation across multiple terrains.
