Sustainable and untethered soft robots created using printable and recyclable ferromagnetic fibers  

作　　者：Wei Tang Yidan Gao Zeyu Dong Dong Han Vadim V.Gorodov Elena Y.Kramarenko Jun Zou 

机构地区：[1]State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310058,China [2]School of Mechanical Engineering,Zhejiang University,Hangzhou 310058,China [3]Institute of Process Equipment,College of Energy Engineering,Zhejiang University,Hangzhou 310027,China [4]Faculty of Physics,Lomonosov Moscow State University,Moscow 119991,Russia [5]Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences,Moscow 117393,Russia

出　　处：《Bio-Design and Manufacturing》2024年第6期926-937,共12页生物设计与制造（英文）

基　　金：funded by the International Cooperation Program of the Natural Science Foundation of China(No.52261135542);Zhejiang Provincial Natural Science Foundation of China(No.LD22E050002);the Russian Science Foundation(No.23-43-00057)for financial support。

摘　　要：Integrated printing of magnetic soft robots with complex structures using recyclable materials to achieve sustainability of the soft robots remains a persistent challenge.Here,we propose a kind of ferromagnetic fibers that can be used to print soft robots with complex structures.These ferromagnetic fibers are recyclable and can make soft robots sustainable.The ferromagnetic fibers based on thermoplastic polyurethane(TPU)/NdFeB hybrid particles are extruded by an extruder.We use a desktop three-dimensional(3D)printer to demonstrate the feasibility of printing two-dimensional(2D)and complex 3D soft robots.These printed soft robots can be recycled and reprinted into new robots once their tasks are completed.Moreover,these robots show almost no difference in actuation capability compared to prior versions and have new functions.Successful applications include lifting,grasping,and moving objects,and these functions can be operated untethered wirelessly.In addition,the locomotion of the magnetic soft robot in a human stomach model shows the prospect of medical applications.Overall,these fully recyclable ferromagnetic fibers pave the way for printing and reprinting sustainable soft robots while also effectively reducing e-waste and robotics waste materials,which is important for resource conservation and environmental protection.

关 键 词：Ferromagnetic fibers Sustainable soft robots Three-dimensional printing Recyclable soft materials Medical applications 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]