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首页> 外文期刊>Journal of manufacturing processes >Additive manufacturing of multi-material soft robot for on-demand drug delivery applications
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Additive manufacturing of multi-material soft robot for on-demand drug delivery applications

机译：Additive manufacturing of multi-material soft robot for on-demand drug delivery applications

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摘要

Soft robotics has tremendous potential for various in-vivo bio applications. However, developing untethered soft robots is quite challenging in terms of designing robust actuation systems, efficient fabrication processes and integrating multiple functionalities. This study proposes an untethered fully 3D printed soft robot, capable of multi-modal locomotion. This soft robot has a multi-material and compliant body structure made with magnetic particle-polymer composites which can be 3D printed directly from a digital computer model. The material composition is digitally programmed for untethered magnetic actuation and the robot contains two functional parts, anterior and posterior legs, with embedded magnetic materials. The robot has 3 degrees of freedom and it is capable of bi-directional bending in xy plane and z direction. In this study, the soft robot prototypes are printed with a novel magnetic field assisted projection stereolithography (M-PSL) technique. The magnetic torque on the robot body during turning locomotion is also measured experimentally and compared with theoretical prediction. Additionally, to demonstrate the multi-functionality of the robot, a magnetically controlled drug carrier reservoir is integrated into the anterior leg of the robot. The robot can store liquid drug inside this reservoir and release the drug once it reaches the target. A dummy drug delivery application is also demonstrated inside a human stomach model and a lung model.

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