PDMS/NdFeB Soft Magnetic Robots for Untethered Actuation and Task Execution under Rotating Magnetic Fields
발표자
유동성 (한양대학교)
연구책임자
위정재 (한양대학교)
공동저자
유동성 (한양대학교), 위정재 (한양대학교), 양기준 (한양대학교)
초록
내용
Untethered magnetic actuation offers a simple route to drive soft robots in confined and complex environments. In this work, we fabricate PDMS (10:1) composites embedded with NdFeB microparticles and pattern them into small-scale robots with defined geometry and magnetization. We systematically characterize their locomotion under a rotating magnetic field by varying field strength and rotation frequency. The robots exhibit multiple motion modes, including rolling, tumbling, wobbling, and hopping, depending on design and actuation conditions. We demonstrate basic functions such as cargo transport, obstacle crossing, and collective control with a single global field. These results establish a straightforward design–actuation map for PDMS/NdFeB magnetic soft robots toward micro-manipulation and biomedical applications.