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A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape… Click to show full abstract
A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape and the contraction motion of the ascidian, we introduce a soft robot that resembles this water animal. In this letter, we first discuss the design of the robot that can be magnetically actuated and create different motions due to different magnetic moments for each segment of the robot. The crawling motion of the robot is presented with a sinusoidal waveform of the magnetic field and we demonstrate the utility of our bio-inspired soft robot for transporting a millimeter-sized object and releasing a drug in a specific location.
Journal Title: IEEE Robotics and Automation Letters
Year Published: 2021
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