Design of an Autonomous Swimming Miniature Robot Based on a Novel Concept of Magnetic Actuation

Abstract-In this work, we propose a new concept for locomotion of a miniature jellyfish-like robot based on the interaction of mobile permanent magnets. The robot is 35 mm in length and 15 mm in width, and it incorporates a rotary actuator, a magnetic rotor, several elastic magnetic tails and a polymeric body embedding a wireless microcontroller and power supply. The novel magnetic mechanism is very versatile for numerous applications and can be tailored and adapted on the basis of different specifications. An analytical model of the magnetic mechanism allows to shape the robot design based on the specific application. The working principle of the robot together with the design, prototyping and testing phases are illustrated in this paper

Design, Actuation, and Functionalization of Untethered Soft Magnetic Robots with Life-Like Motions: A Review

Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and can perform sophisticated tasks. Notably, soft magnetic robots exhibit unparalleled advantages among numerous soft robots (such as untethered control, rapid response, and high safety), and have made remarkable progress in small-scale manipulation tasks and biomedical applications. Despite the promising potential, soft magnetic robots are still in their infancy and require significant advancements in terms of fabrication, design principles, and functional development to be viable for real-world applications. Recent progress shows that bionics can serve as an effective tool for developing soft robots. In light of this, the review is presented with two main goals: (i) exploring how innovative bioinspired strategies can revolutionize the design and actuation of soft magnetic robots to realize various life-like motions; (ii) examining how these bionic systems could benefit practical applications in small-scale solid/liquid manipulation and therapeutic/diagnostic-related biomedical fields

An Untethered Miniature Origami Robot that Self-folds, Walks, Swims, and Degrades

A miniature robotic device that can fold-up on the spot, accomplish tasks, and disappear by degradation into the environment promises a range of medical applications but has so far been a challenge in engineering. This work presents a sheet that can self-fold into a functional 3D robot, actuate immediately for untethered walking and swimming, and subsequently dissolve in liquid. The developed sheet weighs 0.31g, spans 1.7cm square in size, features a cubic neodymium magnet, and can be thermally activated to self-fold. Since the robot has asymmetric body balance along the sagittal axis, the robot can walk at a speed of 3.8 body-length/s being remotely controlled by an alternating external magnetic field. We further show that the robot is capable of conducting basic tasks and behaviors, including swimming, delivering/carrying blocks, climbing a slope, and digging. The developed models include an acetone-degradable version, which allows the entire robot’s body to vanish in a liquid. We thus experimentally demonstrate the complete life cycle of our robot: self-folding, actuation, and degrading.National Science Foundation (U.S.) (Grant 1240383)National Science Foundation (U.S.) (Grant 1138967)American Society for Engineering Education. National Defense Science and Engineering Graduate Fellowshi

Capsule endoscopy of the future: What's on the horizon?

Capsule endoscopes have evolved from passively moving diagnostic devices to actively moving systems with potential therapeutic capability. In this review, we will discuss the state of the art, define the current shortcomings of capsule endoscopy, and address research areas that aim to overcome said shortcomings. Developments in capsule mobility schemes are emphasized in this text, with magnetic actuation being the most promising endeavor. Research groups are working to integrate sensor data and fuse it with robotic control to outperform today's standard invasive procedures, but in a less intrusive manner. With recent advances in areas such as mobility, drug delivery, and therapeutics, we foresee a translation of interventional capsule technology from the bench-top to the clinical setting within the next 10 years

Conceptual Study of Rotary-Wing Microrobotics

This thesis presents a novel rotary-wing micro-electro-mechanical systems (MEMS) robot design. Two MEMS wing designs were designed, fabricated and tested including one that possesses features conducive to insect level aerodynamics. Two methods for fabricating an angled wing were also attempted with photoresist and CrystalBond™ to create an angle of attack. One particular design consisted of the wing designs mounted on a gear which are driven by MEMS actuators. MEMS comb drive actuators were analyzed, simulated and tested as a feasible drive system. The comb drive resonators were also designed orthogonally which successfully rotated a gear without wings. With wings attached to the gear, orthogonal MEMS thermal actuators demonstrated wing rotation with limited success. Multi-disciplinary theoretical expressions were formulated to account for necessary mechanical force, allowable mass for lift, and electrical power requirements. The robot design did not achieve flight, but the small pieces presented in this research with minor modifications are promising for a potential complete robot design under 1 cm2 wingspan. The complete robot design would work best in a symmetrical quad-rotor configuration for simpler maneuverability and control. The military’s method to gather surveillance, reconnaissance and intelligence could be transformed given a MEMS rotary-wing robot’s diminutive size and multi-role capabilities

A review of modeling and control of remote-controlled capsule endoscopes.

INTRODUCTION: The significance of this review lies in addressing the limitations of passive locomotion in capsule endoscopes, hindering their widespread use in medical applications. The research focuses on evaluating existing miniature in vivo remote-controlled capsule endoscopes, examining their locomotion designs, and working theories to pave the way for overcoming challenges and enhancing their applicability in diagnostic and treatment settings. AREAS COVERED: This paper explores control methods and dynamic system modeling in the context of self-propelled remote-controlled capsule endoscopes with a two-mass arrangement. The literature search, conducted at Queen Mary University of London Library from 2000 to 2022, utilized a systematic approach starting with the broad keyword 'Capsule Endoscope' and progressively narrowing down to specific aspects such as 'Capsule Endoscope Control' and 'Self-propelled Capsule Endoscope' using various criteria. EXPERT OPINION: Efficiently driving and controlling remote-controlled capsule endoscopes have the potential to overcome the current limitations in medical technology, offering a viable solution for diagnosing and treating gastrointestinal diseases. Successful control of the remote-controlled capsule endoscope, as demonstrated in this review paper, will lead to a step change in medical engineering, establishing the remote-controlled capsule endoscope as a swift standard in the field

Robotic metamorphosis by origami exoskeletons

Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today’s unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami “exoskeletons.” We show how a cubical magnet “robot” can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re)cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons