A magnetically controlled soft miniature robotic fish with a flexible skeleton inspired by zebrafish. (27th September 2021)

• Record Type: Journal Article
• Authors: Huang, Chenyang; Lai, Zhengyu; Zhang, Li; Wu, Xinyu; Xu, Tiantian
• Is Part Of: Bioinspiration & biomimetics. Volume 16:Number 6(2021)
• Publication Date: 2021-09-27
• Subjects: miniature swimmer -- soft robotic fish -- magnetic actuation; Biomimetics -- Periodicals; Biomedical materials -- Periodicals; Medical innovations -- Periodicals; Biomedical engineering -- Periodicals; 600
• DOI: 10.1088/1748-3190/ac23a9
• Languages: English
• ISSNs: 1748-3182

Abstract

Abstract: The untethered miniature swimming robot actuation and control is difficult as the robot size becomes smaller, due to limitations of feasible miniaturized on-board components. Nature provides much inspiration for developing miniature robot. Here, a new artificial untethered miniature robotic fish with a flexible magnetic skeleton and soft body that achieve controlled locomotion under the water through an external magnetic field is presented. The soft body of the shuttle-shaped structure microrobot was manufactured from pure Ecoflex, while the skeleton for magnetic actuation was manufactured from Ecoflex and NdFeB composites in a certain ratio and was endowed with a special magnetization profile. Microrobots that experience external magnetic fields are able to swim underwater and have environmental adaptations that include the flexibility to traverse aquatic plants area and crushed stone terrain. The robot also exhibits friendly interactivity and camouflage ability to get close to the zebrafish without scaring them. Moreover, the soft miniature robotic fish could be used to study the impacts of the morphology and kinematics changing in zebrafish populations.