Related papers: Towards Physarum Engines
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental…
Conformable robotic systems are attractive for applications in which they can be used to actuate structures with large surface areas, to provide forces through wearable garments, or to realize autonomous robotic systems. We present a new…
Essentially all biology is active and dynamic. Biological entities autonomously sense, com- pute, and respond using energy-coupled ratchets that can produce force and do work. The cytoskeleton, along with its associated proteins and motors,…
Magnetic skyrmionium is a skyrmion-like spin texture with nanoscale size and high mobility. It is a topologically trivial but dynamically stable structure, which can be used as a non-volatile information carrier for next-generation…
Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
The mechanical properties of actin filaments are essential to their biological functions. Here, we introduce a highly coarse-grained model of actin filaments that preserves helicity and chirality while enabling mesoscale simulations. The…
We present a general theoretical analysis of semiflexible filaments subject to viscous drag or point forcing. These are the relevant forces in dynamic experiments designed to measure biopolymer bending moduli. By analogy with the ``Stokes…
Coexistence of order and fluidity in soft matter often mimics that in biology, allowing for complex dynamics and applications like displays. In active soft matter, emergent order can arise because of such dynamics. Powered by local energy…
The magnetic skyrmionium is a skyrmion-like structure but carries a zero net skyrmion number, which can be used as a building block for non-volatile information processing devices. Here, we study the dynamics of a magnetic skyrmionium…
A continuum (Mullins-type) model is formulated for the isotropic evolution of a solid surface on which the mass transport occurs by oscillatory surface diffusion. The time-space oscillations of diffusivity are assumed to be induced by…
Photomechanical liquid crystal elastomers (LCEs) are responsive polymers that can convert light directly into mechanical deformation. This unique feature makes these materials an attractive candidate for soft actuators capable of remote and…
Collections of simple, self-propelled colloidal particles exhibit complex, emergent dynamical behavior, with promising applications in microrobotics. When confined within a deformable vesicle, self-propelled rods cluster and align,…
In active matter systems, self-propelled particles can self-organize to undergo collective motion, leading to persistent dynamical behavior out of equilibrium. In cells, cytoskeletal filaments and motor proteins self-organize into complex…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…
Transport at microscopic length scales is essential in biological systems and various technologies, including microfluidics. Recent experiments achieved self-organized transport phenomena in microtubule active matter using light to modulate…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Purpose: Protoplasmic tubes of Physarum polycephalum, also know as Physarum Wires (PW), have been previously suggested as novel bio- electronic components. Until recently, practical examples of electronic circuits using PWs have been…