Magnetically-Driven Deployable Structure Inspired by Worms

This study investigates the protrusion mechanism of the unsegmented marine worm Phascolosoma stephensoni to inspire new actuation strategies in soft robotics. We introduce a magnetically driven, fully soft fluidic transmission mechanism that deploys a proboscis-like structure with elongation ratios up to 250% of its resting length. By optimizing magneto-mechanical properties, the design integrates an active fluid-filled trunk with four magnetic bending units and a passive, internally stowed proboscis, enabling wireless actuation and highlighting potential applications in targeted delivery within constrained and delicate environments. Here you can find the relevant Excel files and graphs.