Inchworm-Like Soft Robot with Anisotropic Magnetization for Untethered Crawling and Manipulating

Inchworm-like robots have shown promise in achieving multimodal movements, yet the integration of un-tethered locomotion and manipulation capabilities remains a persistent challenge in soft robotics. This paper presents a novel soft robot that addresses this challenge through an anisotropic magnetization distribution, achieved via 3D printing, enabling precise control over its three-dimensional structure and magnetic properties. This unique design allows for magnetic field-controlled locomotion with asymmetric time-varying postures, achieving a maximum stride length of 9.2 mm under an 80 mT field. The robot employs active friction manipulation between its feet, enabling an inchworm-like gait with alternating forefoot and rearfoot fixation. Additionally, the specific magnetization design permits independent control of grippers under the same magnetic field, facilitating complex manipulation tasks. The robot's potential in biomedical applications is demonstrated through a multi-region targeted drug delivery experiment. This integrated locomotion and manipulation platform shows promise for applications in confined spaces and represents a step forward in expanding the capabilities of soft robots for potential medical and industrial tasks.