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Applications of Magnetic Materials in Soft Robotics Public Deposited

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https://ir.library.oregonstate.edu/concern/graduate_projects/xp68kp34x

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  • Magnetic materials can be used in modern soft robotics as a method for external stimulus actuation and motion control. By combining aspects of biology and mechanics, devices are fabricated to create a structure capable of complex movement. Applications that these devices are subject to can be broken down into four groups to summarize magnetics influence. These groups are flexible soft robotics, rigid design approaches, liquid metal groups, and novel stimulus methods. Flexible soft robotics involve magnetic materials placed into different elastomers primarily for use in locomotion. The resulting torque from the ferromagnetic particles in an external magnetic field will deform the elastomer causing locomotion. Rigid design approaches will use a hybrid of hard and soft magnetic materials to create a switch for gripping payloads. The process of actuating the switch is done by manipulating the magnetization of the soft material so that it is attracted or repelled from its hard material counterpart. Attaching paramagnetic particles to this device will allow locomotion for payload delivery applications. Liquid metal groups utilize both gallium-based compounds due to their low melting points and ferrofluid in both magnetic and fluid mechanic applications. Lastly, the novel stimulus methods include a variety of stimulus events such as varying light, temperature, and pH levels to modify magnetics influence on the device.
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