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On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
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4D printed snake-like biomimetic soft robots
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Xingcheng Ou, Jiaqi Huang, Dantong Huang, Xiaohong Li, Guoliang Chen, Yabin Yang, Ran Bi, Yu Sheng,Shuang-Zhuang Guo. 4D printed snake-like biomimetic soft robots[J]. Journal of Zhejiang University Science D, 2025, 8(1): 55-67.
@article{title="4D printed snake-like biomimetic soft robots",
author="Xingcheng Ou, Jiaqi Huang, Dantong Huang, Xiaohong Li, Guoliang Chen, Yabin Yang, Ran Bi, Yu Sheng,Shuang-Zhuang Guo",
journal="Journal of Zhejiang University Science D",
volume="8",
number="1",
pages="55-67",
year="2025",
publisher="Zhejiang University Press & Springer",
doi="10.1631/bdm.2400074"
}
%0 Journal Article
%T 4D printed snake-like biomimetic soft robots
%A Xingcheng Ou
%A Jiaqi Huang
%A Dantong Huang
%A Xiaohong Li
%A Guoliang Chen
%A Yabin Yang
%A Ran Bi
%A Yu Sheng
%A Shuang-Zhuang Guo
%J Journal of Zhejiang University SCIENCE D
%V 8
%N 1
%P 55-67
%@ 1869-1951
%D 2025
%I Zhejiang University Press & Springer
%DOI 10.1631/bdm.2400074
TY - JOUR
T1 - 4D printed snake-like biomimetic soft robots
A1 - Xingcheng Ou
A1 - Jiaqi Huang
A1 - Dantong Huang
A1 - Xiaohong Li
A1 - Guoliang Chen
A1 - Yabin Yang
A1 - Ran Bi
A1 - Yu Sheng
A1 - Shuang-Zhuang Guo
J0 - Journal of Zhejiang University Science D
VL - 8
IS - 1
SP - 55
EP - 67
%@ 1869-1951
Y1 - 2025
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/bdm.2400074
Abstract: Wireless millirobots, engineered to infiltrate the intricate vascular and cavitary network within living organisms, particularly within constricted and confined spaces, hold immense promise for the future of medical treatments. However, some robots, with their multifaceted and intricate designs, often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions. Here, drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes, a millimeter-scale snake-like robot alongside a sophisticated motion control strategy is designed and fabricated via combination of extrusion-based four-dimensional (4D) printing and magnetic-responsive intelligent functional inks. We also develop a sophisticated motion control strategy that enables the robots to perform various dynamic movements, such as undulating swimming, precise turns, graceful circular motions, and coordinated cluster movements, under diverse magnetic field variations. As a potential application, the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling. The novel design and promising applications of this snake robot are poised to emerge as invaluable tools in the realm of future medical surgeries and interventions.
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