Work

Magnetically-Driven Deployable Structure Inspired by Worms

Year: 2026

Type: article

Abstract: This study investigates the protrusion mechanism of the unsegmented marine worm Phascolosoma stephensoni to inspire new actuation strategies in soft robotics. We introduce a magnetically driven, fully soft fluidic transmission mechanism that deploys a proboscis-like structure with elongation ratios up to 250% of its resting length. By optimizing magneto-mechanical properties, the design integrates an active fluid-filled trunk with four magnetic bending units and a passive, internally stowed proboscis, enabling wireless actuation and highlighting potential applications in targeted delivery within constrained and delicate environments. Here you can find the relevant Excel files and graphs.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.18221608

Authors: Cedrola, Ilaria, Maglio, Sabina, Ansari, Mohammad Hasan Dad, menciassi, arianna, Paternò, Linda

Institution: Scuola Superiore Sant'Anna

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: European Commission

Award: G7089707370