Optical-magnetic coupled soft robot with integrated carbon-black-grease self-sensing for multimodal locomotion and complex tasks
Phys. Rev. Applied 25, 034005 – Published 2 March, 2026
DOI: https://doi.org/10.1103/m8zb-9tfg
Abstract
In this study, a soft robot driven by optical-magnetic coupling and equipped with real-time self-sensing capability was developed. By integrally combining the carbon-black-grease flexible sensing system with the polydimethylsiloxane magnetically driven body, the robot achieved self-monitoring and feedback of resistance signals during its deformation process under magnetic-field drive for the first time. With the combination of programmed magnetic control via Helmholtz coils and local optical control using photothermally responsive shape memory alloys, the robot is capable of multimodal movement, controllable steering, and object grasping and release. It also demonstrated excellent operational performance in tasks such as obstacle clearance and cargo transportation. This research provides an alternative approach for the “driving-sensing” integrated design of intelligent soft robots.
