Hard-magnetic soft continuum robots: Modeling, design and applications

IF 7.5 1区物理与天体物理 Q1 PHYSICS, MULTIDISCIPLINARY

Science China Physics, Mechanics & Astronomy Pub Date : 2025-07-28 DOI:10.1007/s11433-025-2729-4

Jiyu Li, Shanshan Wan, Lidan Tan, Khalid Shah, Liu Wang

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引用次数: 0

Abstract

Magnetic soft continuum robots (MSCRs) integrate remote and untethered actuation capability and inherent biocompatible nature of magnetic fields with the compliance of soft components, holding significant potential in biomedical applications. Among various MSCRs, hard-magnetic soft continuum robots (hMSCRs), leveraging materials with hard-magnetic properties, have attracted increasing attention due to their programmable magnetization and large reversible deformations. This review summarizes recent progress in hMSCRs, focusing on the modeling, design, and biomedical applications. First, we introduce fundamental characteristics, actuation mechanisms, and constitutive modeling frameworks of hard-magnetic soft materials. Then, we discuss several typical static and dynamic modeling approaches for two primary categories of hMSCRs: permanent magnet-based and magnetic particle-based systems. Next, design strategies emphasizing structural versatility and functionality are then presented for both types of hMSCRs. Finally, representative biomedical applications in navigation and endoscopy are highlighted, underscoring the transformative potential of hMSCR technologies in clinical practice.

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硬磁软连续体机器人：建模、设计与应用

磁性软连续体机器人（MSCRs）集成了远程和非束缚驱动能力、磁场固有的生物相容性以及软组件的顺应性，在生物医学应用中具有重要的潜力。在各种mscr中，利用具有硬磁性质的材料的硬磁软连续体机器人（hmscr）由于其可编程磁化和大可逆变形而越来越受到人们的关注。本文综述了近年来hmscr的研究进展，重点介绍了其建模、设计和生物医学应用。首先，我们介绍了硬磁软材料的基本特性、驱动机制和本构建模框架。然后，我们讨论了两类hmscr的典型静态和动态建模方法：基于永磁体和基于磁颗粒的系统。其次，强调结构通用性和功能性的设计策略，然后提出了两种类型的hmscr。最后，重点介绍了在导航和内窥镜方面的代表性生物医学应用，强调了hMSCR技术在临床实践中的变革潜力。

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来源期刊

Science China Physics, Mechanics & Astronomy PHYSICS, MULTIDISCIPLINARY-

CiteScore

10.30

自引率

6.20%

发文量

4047

审稿时长

3 months

期刊介绍： Science China Physics, Mechanics & Astronomy, an academic journal cosponsored by the Chinese Academy of Sciences and the National Natural Science Foundation of China, and published by Science China Press, is committed to publishing high-quality, original results in both basic and applied research. Science China Physics, Mechanics & Astronomy, is published in both print and electronic forms. It is indexed by Science Citation Index. Categories of articles: Reviews summarize representative results and achievements in a particular topic or an area, comment on the current state of research, and advise on the research directions. The author’s own opinion and related discussion is requested. Research papers report on important original results in all areas of physics, mechanics and astronomy. Brief reports present short reports in a timely manner of the latest important results.