CN110712193A - Light-operated magnetic drive soft robot - Google Patents
Light-operated magnetic drive soft robot Download PDFInfo
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- CN110712193A CN110712193A CN201911145934.3A CN201911145934A CN110712193A CN 110712193 A CN110712193 A CN 110712193A CN 201911145934 A CN201911145934 A CN 201911145934A CN 110712193 A CN110712193 A CN 110712193A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract
The invention discloses a light-operated magnetic drive soft robot, and relates to the technical field of robots. Including base, first arm, second arm, third arm, fourth arm, hydrogel layer, magnetic current rheologic liquid layer and light and heat conversion reagent layer, one side of base upper surface has set gradually first arm and second arm in the past backward, and the opposite side of base upper surface has set gradually third arm and fourth arm in the past backward. The light-operated magnetic drive soft robot has the advantages that the position, the direction and the angle of the control signal and the driving source are not strictly limited, the control mode is simple, the traditional control mode needs to align the signal at different positions to realize different motion direction control, the regulation and control are complex, the control and the driving realize the non-contact purpose, the control and the driving respectively adopt a magnetic field and a light source, no conducting wire is needed, and the light-operated magnetic drive soft robot is suitable for complex occasions such as human body targeted drug delivery, complex terrain detection and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a light-operated magnetic drive soft robot.
Background
The soft robot is a novel soft robot, can adapt to various unstructured environments, is safer to interact with human beings, and is made of soft materials, generally regarded as materials with Young modulus lower than human muscles; the driving mode of the soft robot is mainly determined by the intelligent materials used; generally, there are Dielectric Elastomers (DE), Ionic Polymer Metal Composites (IPMC), Shape Memory Alloys (SMA), and Shape Memory Polymers (SMP), etc., and the physical quantities responding are temporarily classified into the following categories: scientists have designed various soft robots based on electric field, pressure, magnetic field, chemical reaction, light and temperature, and most of the soft robots are designed to imitate various organisms in the nature, such as earthworms, octopus, jellyfish and the like.
Researchers from north carolina state university and the university of ilong developed a technology that could remotely control the movement of a soft robot, and could also confine it to a specific location, set it to a new shape, relying primarily on the action of light and magnetic fields, researchers used soft robots made of polymers with embedded magnetic particles, normally with materials that were relatively hard and held in a certain shape, when researchers used light from Light Emitting Diodes (LEDs) to heat the material, the polymers became soft, once soft, the shape of the robot could be remotely controlled by applying a magnetic field, after the desired shape was formed, the LED lights could be removed, allowing the robot to recover its original stiffness, while the shape still remained the desired shape, and by re-illuminating light and removing the magnetic field, the soft robot would recover, and of course, could also illuminate light again and manipulate the magnetic field to move the robot or cause them to assume the new shape, in the experimental process, researchers prove that the soft robot can be used for forming a 'grabber' to lift and transport objects, the soft robot can also be used as a cantilever or be folded into a petal shape bent towards different directions, the researches introduce the technology not only limited to switch type control, but also can move to any position and keep any shape by controlling irradiation light, the soft robot on the market at present has a complex control mode, the traditional control mode needs to align signals at different positions to realize different motion direction control, so that regulation and control are complex, meanwhile, the traditional soft robot needs to carry out contact type control and driving, so that the use occasion is single, the use effect is general, and therefore, the light-controlled magnetic drive soft robot is provided for solving the problems.
Disclosure of Invention
The invention provides a light-operated magnetic-drive soft robot which has the advantages of simpler control mode, more applicable occasions and various moving directions of the robot and solves the problem of common use effect of the traditional robot.
In order to realize the purposes of simpler control mode, more applicable occasions and various moving directions of the robot, the invention provides the following technical scheme: a light-operated magnetic drive soft robot comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a hydrogel layer, a magnetorheological fluid layer and a light-heat conversion reagent layer, wherein the first mechanical arm and the second mechanical arm are sequentially arranged on one side of the upper surface of the base from front to back, the third mechanical arm and the fourth mechanical arm are sequentially arranged on the other side of the upper surface of the base from front to back, and the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively arranged on the upper surface of the base in a bonding mode;
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all composed of a hydrogel layer, a magnetorheological fluid layer and a photo-thermal conversion reagent layer, and the hydrogel layer, the magnetorheological fluid layer and the photo-thermal conversion reagent layer are distributed from bottom to top.
As a preferred technical solution of the present invention, the photothermal conversion reagent layer is located on the top layer of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, and the photothermal conversion reagent layer on the top layer of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm has the same size but different materials.
As a preferred technical scheme of the present invention, the magnetorheological fluid layers are located in the middle of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, and the photothermal conversion reagent layers in the middle of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all the same in size and material.
As a preferred technical solution of the present invention, the hydrogel layer is located at the bottom layer of the first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm, and the size and the material of the hydrogel layer at the bottom layer of the first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm are the same.
According to a preferable technical scheme of the invention, nano ferroferric oxide is added into the hydrogel layers at the bottom layers of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm.
As a preferred technical solution of the present invention, the photothermal conversion reagent layer of the first mechanical arm is sensitive to the λ 1 band and has a certain bandwidth; the photo-thermal conversion reagent layer of the second mechanical arm is sensitive to the lambda 2 wave band and has a certain bandwidth; the photo-thermal conversion reagent layer of the third mechanical arm is sensitive to a lambda 3 waveband and has a certain bandwidth; the photo-thermal conversion reagent layer of the fourth mechanical arm is sensitive to the lambda 4 wave band and has a certain bandwidth.
As a preferred technical solution of the present invention, when the photo-magnetically controlled soft robot applies light source irradiation in λ 1 band, under the action of λ 1 light source, the photo-thermal conversion reagent layer reduces the damping of the magnetorheological fluid layer of the first mechanical arm, while the damping of the second mechanical arm, the third mechanical arm and the fourth mechanical arm is maintained at a larger value.
As a preferred technical solution of the present invention, when a periodic magnetic field is applied to the soft robot, the applied magnetic field will bend the hydrogel layer, but since the damping of the second mechanical arm, the third mechanical arm and the fourth mechanical arm is large, only the first mechanical arm actually bends, and the robot will move to the left front under the action of the periodic magnetic field.
As a preferred technical solution of the present invention, in the photo-magnetically controlled soft robot, 2 wave band light sources λ 1 and λ 2 are simultaneously applied for irradiation, under the action of the λ 1 and λ 2 light sources, the photo-thermal conversion reagent layer reduces the damping of the magnetorheological fluid layers of the first and second robots, while the damping of the third and fourth robots is maintained at a large value, and when a periodic magnetic field is applied to the soft robot, the applied magnetic field bends the hydrogel layer, but because the damping of the third and fourth robots is large, only the first and second robots are actually bent, and under the action of the periodic magnetic field, the robot moves forward in parallel, and similarly, the robot moves backward in parallel by applying the λ 3 and λ 4 wave band light sources.
Advantageous effects
Compared with the prior art, the invention provides a light-operated magnetic drive soft robot which has the following beneficial effects:
1. the light-operated magnetic drive soft robot has the advantages that the position, the direction and the angle of the control signal and the driving source are not strictly limited, the control mode is simple, the traditional control mode needs to align the signal at different positions to realize different motion direction control, the regulation and control are complex, the control and the driving realize the non-contact purpose, the control and the driving respectively adopt a magnetic field and a light source, no conducting wire is needed, and the light-operated magnetic drive soft robot is suitable for complex occasions such as human body targeted drug delivery, complex terrain detection and the like.
2. The light-operated magnetic drive soft robot has different direction control signals and driving signals, is favorable for obtaining a quick driving effect, for example, a magnetic field with higher strength is applied for driving, and the direction control is carried out by using the light sources with the wave bands of lambda 1 and lambda 2 with periodic lower power, so that large driving displacement can be realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a layered split architecture of the present invention;
FIG. 3 is a schematic diagram of the absorption spectrum of a four-arm photothermal conversion reagent layer of the present invention;
FIG. 4 is a schematic view of the turning and moving of the soft robot of the present invention;
FIG. 5 is a schematic diagram of the parallel movement of the soft robot according to the present invention.
In the figure: 1. a base; 2. a first robot arm; 3. a second mechanical arm; 4. a third mechanical arm; 5. a fourth mechanical arm; 6. a hydrogel layer; 7. a magnetorheological fluid layer; 8. a photothermal conversion reagent layer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the invention discloses a light-operated magnetic drive soft robot, which comprises a base 1, a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4, a fourth mechanical arm 5, a hydrogel layer 6, a magnetorheological fluid layer 7 and a light-heat conversion reagent layer 8, wherein the first mechanical arm 2 and the second mechanical arm 3 are sequentially arranged on one side of the upper surface of the base 1 from front to back, the third mechanical arm 4 and the fourth mechanical arm 5 are sequentially arranged on the other side of the upper surface of the base 1 from front to back, and the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5 are respectively arranged on the upper surface of the base 1 in an adhering manner;
the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5 are formed by a hydrogel layer 6, a magnetorheological fluid layer 7 and a photo-thermal conversion reagent layer 8, and the hydrogel layer 6, the magnetorheological fluid layer 7 and the photo-thermal conversion reagent layer 8 are distributed from bottom to top.
Referring to fig. 2, the photothermal conversion reagent layer 8 is located on the top layer of the first robot arm 2, the second robot arm 3, the third robot arm 4 and the fourth robot arm 5, and the photothermal conversion reagent layer 8 on the top layer of the first robot arm 2, the second robot arm 3, the third robot arm 4 and the fourth robot arm 5 has the same size but different materials.
Referring to fig. 2, the magnetorheological fluid layer 7 is located in the middle of the first arm 2, the second arm 3, the third arm 4 and the fourth arm 5, and the photothermal conversion reagent layer 7 in the middle of the first arm 2, the second arm 3, the third arm 4 and the fourth arm 5 has the same size and material.
Referring to fig. 2, the hydrogel layer 6 is located at the bottom layers of the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5, the size and the material of the hydrogel layer 6 at the bottom layers of the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5 are the same, and nano ferroferric oxide is added into the hydrogel layer 6 at the bottom layers of the first mechanical arm 2, the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5.
Referring to fig. 3, the photothermal conversion reagent layer 8 of the first arm 2 is sensitive to the λ 1 band and has a certain bandwidth; the photo-thermal conversion reagent layer 8 of the second mechanical arm 3 is sensitive to a lambda 2 wave band and has a certain bandwidth; the photothermal conversion reagent layer 8 of the third mechanical arm 4 is sensitive to the lambda 3 waveband and has a certain bandwidth; the photothermal conversion reagent layer 8 of the fourth mechanical arm 5 is sensitive to the lambda 4 band and has a certain bandwidth.
Referring to fig. 4, when the photo-magnetically controlled soft robot applies light source with λ 1 band, under the action of λ 1 light source, the photo-thermal conversion reagent layer 8 reduces the damping of the magnetorheological fluid layer 7 of the first mechanical arm 2, while the damping of the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5 is maintained to be larger, when a periodic magnetic field is applied to the soft robot, the applied magnetic field will bend the hydrogel layer 6, but because the damping of the second mechanical arm 3, the third mechanical arm 4 and the fourth mechanical arm 5 is larger, only the first mechanical arm 2 bends actually, and the robot will move to the left front under the action of the periodic magnetic field, and it can be known that the robot will generate different steering effects by applying light source with different bands.
Referring to fig. 5, in the photo-magnetically controlled soft robot, 2 wave band light sources λ 1 and λ 2 are applied simultaneously, under the action of λ 1 and λ 2 light sources, the photo-thermal conversion reagent layer 8 reduces the damping of the magnetorheological fluid layer 7 of the first mechanical arm 2 and the second mechanical arm 3, while the damping of the third mechanical arm 4 and the fourth mechanical arm 5 maintains a larger value, when a periodic magnetic field is applied to the soft robot, the applied magnetic field bends the hydrogel layer 6, but because the damping of the third mechanical arm 4 and the fourth mechanical arm 5 is larger, only the first mechanical arm 2 and the second mechanical arm 3 actually bend, and the robot moves forward in parallel under the action of the periodic magnetic field, and similarly, the robot moves backward by applying the λ 3 and λ 4 wave band light sources.
In the soft robot control mechanism, the driving source is a periodic magnetic field; the control signals for the directions are λ 1, λ 2, λ 3, λ 4, which are all 4 band light sources, as shown in table 1:
table 1 control signals and driving sources for the motion of the soft robot:
| direction control signal | Driving source | Bending of arms (period) | Direction of motion | |
| λ1 | H (period) | |
Front left | |
| λ2 | H (period) | |
Right front side | |
| λ3 | H (period) | |
Rear right | |
| λ4 | H (period) | Arm 4 | Left | |
| λ | ||||
| 1 and λ 2 | H (period) | |
Go forward | |
| λ 3 and λ 2 | H (period) | |
Retreat | |
| λ 1 (period) | | Arm | 1 | Front left |
| Lambda 2 (period) | | Arm | 2 | Right front side |
| Lambda 3 (period) | | Arm | 3 | Rear right |
| Lambda 4 (period) | H | Arm 4 | Left | |
| λ | ||||
| 1 and λ 2 (period) | | Arm | 1, |
Go forward |
| |
| Arm | 3, arm 4 | Retreat |
Remarking: arm 1 refers to a first mechanical arm; arm 2 refers to a second robotic arm; arm 3 refers to a third mechanical arm; the arm 4 refers to a fourth mechanical arm.
It can be seen from the analysis that the driving source can be a constant magnetic field, and the control signals in 4 directions can be light sources applied in four periods.
In summary, the light-operated magnetic drive soft robot has the advantages that the position, direction and angle applied by the control signal and the driving source are not strictly limited, the control mode is simple, the traditional control mode needs to align the signal at different positions to realize different motion direction control, the regulation and control are complex, the control and drive realize the non-contact purpose, the control and drive respectively adopt the magnetic field and the light source without wires, the light-operated magnetic drive soft robot is suitable for complex occasions such as human body targeted drug delivery, complex terrain detection and the like, the direction control signal and the driving signal are different, the fast drive effect is favorably obtained, for example, the direction control is carried out by applying the magnetic field with larger intensity, the direction control is carried out by using the light sources with the periodic smaller lambda 1 and lambda 2 wave bands, the large drive displacement can be realized, if the traditional single signal is adopted to carry out the drive in different directions, because the signal has the direction control function besides being, therefore, periodic switching is required to realize control direction change, and the signal cannot realize larger peak value switching.
It should be noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a light-operated magnetism drives software robot, includes base (1), first arm (2), second arm (3), third arm (4), fourth arm (5), hydrogel layer (6), magnetic current becomes liquid layer (7) and light and heat conversion reagent layer (8), its characterized in that: a first mechanical arm (2) and a second mechanical arm (3) are sequentially arranged on one side of the upper surface of the base (1) from front to back, a third mechanical arm (4) and a fourth mechanical arm (5) are sequentially arranged on the other side of the upper surface of the base (1) from front to back, and the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) are respectively arranged on the upper surface of the base (1) in a bonding mode;
the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) are formed by a hydrogel layer (6), a magnetorheological fluid layer (7) and a photo-thermal conversion reagent layer (8) in three layers, and the hydrogel layer (6), the magnetorheological fluid layer (7) and the photo-thermal conversion reagent layer (8) are arranged in a distributed mode from bottom to top.
2. The optically controlled magnetically driven soft robot of claim 1, wherein: photothermal conversion reagent layer (8) is located the top layer of first arm (2), second arm (3), third arm (4) and fourth arm (5), the size homogeneous phase of photothermal conversion reagent layer (8) on first arm (2), second arm (3), third arm (4) and fourth arm (5) top layer is the same, but the material is different.
3. The optically controlled magnetically driven soft robot of claim 1, wherein: the magnetorheological fluid layer (7) is positioned in the middle of the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5), and the sizes and the materials of the photothermal conversion reagent layer (7) in the middle of the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) are the same.
4. The optically controlled magnetically driven soft robot of claim 1, wherein: the hydrogel layer (6) is located at the bottom layers of the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5), and the size and the material of the hydrogel layer (6) at the bottom layers of the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) are the same.
5. The optically controlled magnetically driven soft robot of claim 4, wherein: nanometer ferroferric oxide is added into the hydrogel layer (6) at the bottom layer of the first mechanical arm (2), the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5).
6. The optically controlled magnetically driven soft robot of claim 1, wherein: the photothermal conversion reagent layer (8) of the first mechanical arm (2) is sensitive to a lambda 1 wave band and has a certain bandwidth; the photo-thermal conversion reagent layer (8) of the second mechanical arm (3) is sensitive to a lambda 2 wave band and has a certain bandwidth; the photothermal conversion reagent layer (8) of the third mechanical arm (4) is sensitive to a lambda 3 wave band and has a certain bandwidth; the photothermal conversion reagent layer (8) of the fourth mechanical arm (4) is sensitive to a lambda 4 wave band and has a certain bandwidth.
7. The optically controlled magnetically driven soft robot of claim 6, wherein: when the light-operated magnetic drive soft robot applies light source irradiation in a lambda 1 wave band, under the action of the lambda 1 light source, the light-heat conversion reagent layer (8) enables the damping of the magnetorheological fluid layer (7) of the first mechanical arm (2) to be reduced, and the damping of the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) to be maintained to be larger.
8. The optically controlled magnetically driven soft robot of claim 7, wherein: when a periodic magnetic field is applied to the soft robot, the applied magnetic field bends the hydrogel layer (6), but because the damping of the second mechanical arm (3), the third mechanical arm (4) and the fourth mechanical arm (5) is large, only the first mechanical arm (2) is actually bent, the robot moves towards the left front under the action of the periodic magnetic field, and the application of light sources with different wave bands for irradiation can generate different steering effects.
9. The optically controlled magnetically driven soft robot of claim 6, wherein: in the light-operated magnetic-drive soft robot, 2 wave band light sources of lambda 1 and lambda 2 are applied simultaneously, under the action of the lambda 1 and lambda 2 light sources, the damping of a magnetorheological fluid layer (7) of a first mechanical arm (2) and a second mechanical arm (3) is reduced by a photothermal conversion reagent layer (8), the damping of a third mechanical arm (4) and a fourth mechanical arm (5) is kept large, when a periodic magnetic field is applied to the soft robot, the applied magnetic field bends a hydrogel layer (6), but because the damping of the third mechanical arm (4) and the fourth mechanical arm (5) is large, only the first mechanical arm (2) and the second mechanical arm (3) are actually bent, the robot moves forwards in parallel under the action of the periodic magnetic field, and similarly, the robot moves backwards by applying the lambda 3 and lambda 4 wave band light sources simultaneously.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733057A (en) * | 2019-11-21 | 2020-01-31 | 杭州宏迈科技有限公司 | magnetic control optical drive software robot |
| CN112245779A (en) * | 2020-10-21 | 2021-01-22 | 江南大学 | Micro-nano robot capable of realizing capture and release of micro particles |
| CN113618711A (en) * | 2021-07-22 | 2021-11-09 | 江苏大学 | Composite hydrogel soft robot based on optomagnetic drive |
-
2019
- 2019-11-21 CN CN201911145934.3A patent/CN110712193A/en active Pending
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| 周正华: "《纳米材料开发使用及质量检测技术标准应用手册 上》", 银声音像出版社, pages: 121 - 122 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733057A (en) * | 2019-11-21 | 2020-01-31 | 杭州宏迈科技有限公司 | magnetic control optical drive software robot |
| CN110733057B (en) * | 2019-11-21 | 2024-07-30 | 杭州宏迈科技有限公司 | Magnetic control CD-ROM soft robot |
| CN112245779A (en) * | 2020-10-21 | 2021-01-22 | 江南大学 | Micro-nano robot capable of realizing capture and release of micro particles |
| CN113618711A (en) * | 2021-07-22 | 2021-11-09 | 江苏大学 | Composite hydrogel soft robot based on optomagnetic drive |
| CN113618711B (en) * | 2021-07-22 | 2023-08-22 | 江苏大学 | Composite hydrogel soft robot based on magneto-optical drive |
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