Slither-Type Biohybrid Robot Powered by Highly Contractile Muscle Rings

This paper proposes a method for integrating multi-joint structures and selective actuation systems into biohybrid robots powered by muscle tissues. We constructed a multi-joint robotic skeleton incorporating multiple ring-shaped muscle tissues (muscle rings) and developed a slither-type biohybrid robot. Furthermore, by utilizing a device with embedded electrodes, we enable localized stimulation of the targeted unit of the robot. Electric field simulations demonstrated that incorporating a shielding structure effectively suppressed field leakage, allowing for selective actuation. As a result, by applying relay modules, the slither-type biohybrid robot successfully achieved snake-like undulatory motion. This study demonstrates the high applicability of muscle rings and the advancement of stimulation systems for achieving precise control in multi-joint biohybrid robotic systems.