학술논문
A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(6):3262-3269 Jun, 2023
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to the minimally invasive surgical community, potentially allowing navigation to regions of the anatomy previously deemed inaccessible. Due to the low forces involved, one particular challenge is functionalizing such magnetic devices. To address this limitation we introduce a proof-of-concept variable stiffness robot controlled by remote magnetic actuation, capable of grasping objects of varying sizes. We demonstrate a controlled and reversible high deformation coiling action induced via a transient homogeneous magnetic field and a synchronized sliding nitinol backbone. Our soft magnetic coiling grasper is visually tracked and controlled during three experimental demonstrations. We exhibit a maximum coiling deformation angle of 400$^{\circ }$.