Open AccessA Magnetically-Actuated Coiling Soft Robot With Variable Stiffness
Author(s) -
Peter Lloyd,
Theodosia Lourdes Thomas,
Venkatasubramanian Kalpathy Venkiteswaran,
Giovanni Pittiglio,
James H. Chandler,
Pietro Valdastri,
Sarthak Misra
Publication year - 2023
Publication title -
ieee robotics and automation letters
Language(s) - English
Resource type - Journals
ISSN - 2377-3766
DOI - 10.1109/lra.2023.3264770
Subject(s) - robotics and control systems , computing and processing , components, circuits, devices and systems
Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to the minimally invasive surgical community, potentially allowing navigation to regions of the anatomy previously deemed inaccessible. Due to the low forces involved, one particular challenge is functionalizing such magnetic devices. To address this limitation we introduce a proof-of-concept variable stiffness robot controlled by remote magnetic actuation, capable of grasping objects of varying sizes. We demonstrate a controlled and reversible high deformation coiling action induced via a transient homogeneous magnetic field and a synchronized sliding nitinol backbone. Our soft magnetic coiling grasper is visually tracked and controlled during three experimental demonstrations. We exhibit a maximum coiling deformation angle of 400 $^{\circ }$ .