Navigation and Load Adaptability of a Flatworm-Inspired Soft Robot Actuated by Staggered Magnetization Structure.

ABSTRACT: This study presents a magnetically actuated soft robot inspired by the peristaltic locomotion of flatworms, designed to replicate the biological locomotion of worms to achieve robust maneuverability. Fabricated entirely from photocurable soft resin, the robot features a flexible elastomeric body and two webbed fins with embedded soft magnets. By applying a vertically oscillating magnetic field, the robot achieves forward crawling through the coordinated bending and lifting of fins, converting oscillating magnetic fields into continuous undulatory motion that mimics the gait of flatworms. The experimental results demonstrate that the system maintains consistent bidirectional velocities in the range of 4-7 mm/s on flat surfaces. Beyond linear locomotion, the robot demonstrates effective terr

SUBMITTER: Wang Z 

PROVIDER: S-EPMC12838958 | biostudies-literature | 2026 Jan

REPOSITORIES: biostudies-literature