Min, Hyeongho Bae, Daebeom Jang, Siyeon Lee, Sangmin Park, Myungjin Dayan, Cem Balda Choi, Jiwoong Bak, Keungyonh Yang, Yoosoo Chun, Sungwoo Sitti, Metin 2024-12-06T10:00:25Z 2024-12-06T10:00:25Z 2024-12-06 2024-11 https://pubs.kist.re.kr/handle/201004/151306 Considering the characteristics and operating environment of remotely controlled miniature soft robots, achieving delicate adhesion control over various target surfaces is a substantial challenge. In particular, the ability to delicately grasp wrinkled and soft biological and nonbiological surfaces with low preload without causing damage is essential. The proposed adhesive robotic system, inspired by the secretions from a velvet worm, uses a structured magnetorheological material that exhibits precise adhesion control with stability and repeatability by the rapid stiffness change controlled by an external magnetic field. The proposed adhesion protocol involves controlling soft-state adhesion, maintaining a large contact area, and enhancing the elastic modulus, and the mechanical structure enhances the effectiveness of this protocol. Demonstrations of the remote adhesive robot include stable transportation in soft and wet organs, unscrewing a nut from a bolt, and supporting mouse tumor removal surgery. These results indicate the potential applicability of the soft adhesive robot in biomedical engineering, especially for targeting small-scale biological tissues and organisms. English American Association for the Advancement of Science Stiffness-tunable velvet worm-inspired soft adhesive robot Article 10.1126/sciadv.adp8260 1 Science Advances, v.10, no.47 Science Advances 10 47 Y scie scopus 001360397400015 Multidisciplinary Sciences Science & Technology - Other Topics Article GECKO MICRO DRY MECHANICS GRIPPER