More Like this

1. Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

   https://doi.org/10.1115/DSCC2019-9029  

   Steiner, Jake A.; Hussain, Omar A.; Pham, Lan N.; Abbott, Jake J.; Leang, Kam K. (October 2019, Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots)

   Abstract This paper introduces a magneto-electroactive endoluminal soft (MEESo) robot concept, which could enable new classes of catheters, tethered capsule endoscopes, and other mesoscale soft robots designed to navigate the natural lumens of the human body for a variety of medical applications. The MEESo locomotion mechanism combines magnetic propulsion with body deformation created by an ionic polymer-metal composite (IPMC) electroactive polymer. A detailed explanation of the MEESo concept is provided, including experimentally validated models and simulated magneto-electroactive actuation results demonstrating the locomotive benefits of incorporating an IPMC compared to magnetic actuation alone. 

   more » « less
2. Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

   https://doi.org/https://doi.org/10.1115/1.4053114  

   Jake A. Steiner, L. N. (October 2022, Journal of mechanisms and robotics)

   In clinical practice, therapeutic and diagnostic endoluminal procedures of the human body often use a scope, catheter, or passive pill-shaped camera. Unfortunately, such devices used in the circulatory system and gastrointestinal tract are often uncomfortable, invasive, and require the patient to be sedated. With current technology, regions of the body are often inaccessible to the clinician. Herein, a magnetically actuated soft endoluminal inchworm robot that may extend clinicians’ ability to reach further into the human body and practice new procedures is described, modeled, and analyzed. A detailed locomotion model is pro- posed that takes into account the elastic deformation of the robot and its interactions with the environment. The model is validated with in vitro and ex vivo (pig intestine) physical experiments and is shown to capture the robot’s gait characteristics through a lumen. Utilizing dimensional analysis, the effects of the mechanical properties and design variables on the robot’s motion are investigated further to advance the understanding of this endoluminal robot concept. 

   more » « less
3. Fictitious Magnetic Charge Model for Magneto-Mechanical Metamaterials

   https://doi.org/10.1115/1.4070273  

   Zhang, Yuying; Alkuino, Gabriel; Zhang, Teng (January 2026, Journal of Applied Mechanics)

   Abstract Magnetically actuated intelligent structures have shown great promise in various applications ranging from soft robotics to biomedical devices. One important type of structure involves embedding rigid magnets in polymer matrices, thanks to their simplicity in manufacturing and flexibility in structure design. However, accurately modeling their behavior remains challenging due to the strong nonlinear coupling between large deformation and spatially varying magnetic fields. To address this, we employ a fictitious magnetic charge method to transfer the magnetic forces and torques into surface traction under both uniform and nonuniform external magnetic actuation. We implement the proposed method in the commercial finite element software abaqus and validate it through a series of benchmark examples, which cover tuning the area of magneto-mechanical metamaterials, the shape changing of magnetic lattice structures, and the magnetic-field-driven buckling of cellular structures. Our approach enables accurate prediction of shape transformations in magnetically responsive structures, offering a practical tool for the design and optimization of future magneto-mechanical metamaterials and devices. 

   more » « less
4. Research Progress in Electroactive Polymers for Soft Robotics and Artificial Muscle Applications

   https://doi.org/10.3390/polym17060746  

   Dewang, Yogesh; Sharma, Vipin; Baliyan, Vijay Kumar; Soundappan, Thiagarajan; Singla, Yogesh Kumar (March 2025, Polymers)

   Soft robots, constructed from deformable materials, offer significant advantages over rigid robots by mimicking biological tissues and providing enhanced adaptability, safety, and functionality across various applications. Central to these robots are electroactive polymer (EAP) actuators, which allow large deformations in response to external stimuli. This review examines various EAP actuators, including dielectric elastomers, liquid crystal elastomers (LCEs), and ionic polymers, focusing on their potential as artificial muscles. EAPs, particularly ionic and electronic varieties, are noted for their high actuation strain, flexibility, lightweight nature, and energy efficiency, making them ideal for applications in mechatronics, robotics, and biomedical engineering. This review also highlights piezoelectric polymers like polyvinylidene fluoride (PVDF), known for their flexibility, biocompatibility, and ease of fabrication, contributing to tactile and pressure sensing in robotic systems. Additionally, conducting polymers, with their fast actuation speeds and high strain capabilities, are explored, alongside magnetic polymer composites (MPCs) with applications in biomedicine and electronics. The integration of machine learning (ML) and the Internet of Things (IoT) is transforming soft robotics, enhancing actuation, control, and design. Finally, the paper discusses future directions in soft robotics, focusing on self-healing composites, bio-inspired designs, sustainability, and the continued integration of IoT and ML for intelligent, adaptive, and responsive robotic systems. 

   more » « less
5. On Structural Theories for Ionic Polymer Metal Composites: Balancing Between Accuracy and Simplicity

   https://doi.org/10.1007/s10659-020-09779-4  

   Boldini, Alain; Bardella, Lorenzo; Porfiri, Maurizio (June 2020, Journal of Elasticity)

   Ionic polymer metal composites (IPMCs) are soft electroactive materials that are finding increasing use as actuators in several engineering domains, where there is a need of large compliance and low activation voltage. Similar to traditional sandwich structures, an IPMC comprises a hydrated ionomer core that is sandwiched by two stiffer electrodes. The application of a voltage across the electrodes drives charge migration within the ionomer, which, in turn, contributes to the development of an eigenstress, associated with osmotic pressure and Maxwell stress. Critical to IPMC actuation is the variation of the eigenstress through the thickness of the ionomer, which is responsible for strain localization at the ionomer-electrode interfaces. Despite considerable progress in the development of reliable continuum theories and finite element tools, accurate structural theories that could beget physical insight into the inner workings of IPMC actuation are lacking. Here, we seek to bridge this gap by contributing a principled methodology to structural modeling of IPMC actuation. Our approach begins with the study of the IPMC electrochemistry through the method of matched asymptotic expansions, which yields a semi-analytical expression for the eigenstress as a function of the applied voltage. Hence, we establish a total potential energy that accounts for the strain energy of the ionomer, the strain energy of the electrodes, and the work performed by the eigenstress. By projecting the IPMC kinematics on select beam-like representations and imposing the stationarity of the total potential energy, we formulate rigorous structural theories for IPMC actuation. Not only do we examine classical low-order and higher-order beam theories, but we also propose enriched theories that account for strain localization near the electrodes. The accuracy of these theories is assessed through comparison with finite element simulations on a plane-strain problem of non-uniform bending. Our results indicate that an enriched Euler-Bernoulli beam theory, with three independent field variables, is successful in capturing the main features of IPMC actuation at a limited computational cost. 

   more » « less