用激光打印制造可磁控的仿肌肉软执行器，能推拉抓爬。
Muscle-inspired magnetic actuators that push, pull, crawl, and grasp
- 通过调节激光能量，同步控制材料刚度与磁响应性能。
- 单个执行器可提升自重32倍的50克负载，稳定运行超50次循环。
- 适合远程驱动的柔性机器人，用于医疗微操作和自适应抓取。
具备大变形、承重能力及多功能运动的磁性功能复合材料是下一代自适应软体机器人的关键。本文提出仿肌肉磁驱动器（MMA），采用激光粉末床熔融（LPBF）技术，以热塑性/永磁聚氨酯/Nd₂Fe₁₄B（TPU/MQP-S）复合材料逐层制造。通过调控激光能量密度在1.0至3.0之间，可精确调节材料机械刚度与磁响应：抗拉强度从0.28提升至0.99 MPa，断裂伸长率保持在30%-45%。该工艺实现了0.5 mm厚的柔性铰链，可在中等磁场下反复弯曲折叠而不损坏。报道了两种执行器类型，展示系统多样性。细长型执行器（自重1.57克，磁化于收缩态）在500 mT磁场下实现线性收缩，可提升50克（为自身重量的32倍），并持续工作至少50次循环；其配备各向异性摩擦足，使磁控爬行机器人在纹理表面实现最高100%的运动成功率。可扩展型执行器在300 mT磁场下实现可逆开合，可靠抓取软质浆果及刚性3D打印结构，并可在管内锚定同时悬吊50克负载。本研究展示了基于LPBF的单一材料体系中编程刚度与磁化的策略，实现了远程驱动、可重构且耐疲劳的软执行器，为力控、多功能磁性软机器人在自适应抓取、运动与微创医疗操作中的应用开辟新路径。
原文摘要 · Abstract (English)
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured from a thermoplastic/permanent magnet polyurethane/Nd2Fe14B (TPU/MQP-S) composite using laser powder bed fusion (LPBF). By tuning the laser-energy scale between 1.0 and 3.0, both mechanical stiffness and magnetic response are precisely controlled: the tensile strength increases from 0.28 to 0.99 MPa while maintaining 30-45% elongation at break. This process enables the creation of 0.5 mm-thick flexural hinges, which reversibly bend and fold under moderate magnetic fields without damage. Two actuator types are reported showing the system versatility. The elongated actuator with self-weight of 1.57 g, magnetized in its contracted state, achieves linear contraction under a 500 mT field, lifting 50 g (32x its own weight) and sustaining performance over at least 50 cycles. Equipped with anisotropic frictional feet, it supports movement of a magnetic crawling robot that achieves up to 100% locomotion success on textured substrates. The expandable actuator exhibits reversible opening and closing under a 300 mT field, reliably grasping and releasing different objects, including soft berries and rigid 3D printed geometries. It can also anchor in a tube while holding suspended 50 g loads. This work demonstrates a LPBF-based strategy to program both stiffness and magnetization within a single material system, enabling remotely driven, reconfigurable, and fatigue-resistant soft actuators. The approach opens new possibilities for force controlled, multifunctional magnetic soft robots for adaptive gripping, locomotion, and minimally invasive manipulation of biomedical tools.
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