Magnetic Bistable\nDome Actuators for Soft Robotics\nwith High Volume Capacity and Motion Stability

Magneto-responsive soft actuators hold significant promise\nin soft\nrobotics due to their rapid responsiveness and untethered operation.\nHowever, controlling their deformations presents challenges because\nof their inherent flexibility and high degrees of freedom. Here, we\npresent a magnetically driven bistable dome-shaped soft actuator that\nsimplifies deformation by limiting it to two distinct states. The\nactuator achieves controlled state transitions by switching the orientation\nof external magnetic fields. We investigate the design strategy and\nmagnetization styles of the dome-shaped soft actuator. Additionally,\nwe analyze their effects on state transitions. The bistable dome undergoes\nsignificant volume changes reliably and smoothly during deformation,\nand its natural curvature makes it suitable for tasks involving rolling\nmotion. We demonstrate the actuator’s effectiveness in various\napplications, including an array of bistable domes for controlled\nactuation, a magnetically driven pulse pump with integrated check\nvalves, and a ball-shaped bistable robot capable of efficient rolling\nlocomotion and fluid manipulation. Our design significantly enhances\nthe versatility and efficiency of bistable soft robotic systems, highlighting\ntheir potential for tasks such as liquid collection and release.