Failure-free jumping soft robot using elastic fiber inspired by Jumping nematode

Jumping nematodes utilize longitudinal muscles to store energy in their cross-fiber helical array tissue during curvature formation after buckling limit. This energy is rapidly released when the capillary bridge between contacts breaks. Drawing inspiration from this unique behavior of nematodes, a soft robot has been designed to emulate the nematode's physical properties. The nematode's cross-fiber helical tissue is mimicked using a McKibben structure made of elastic fibers. This structure is capable of storing elastic energy, even during buckling. To simulate the muscle contractions of Entomopathogenic Nematodes (EPNs), low-mass shape memory alloy actuators are employed. By applying an electric current to these actuators, muscle-like contractions are replicated. Additionally, a latch mechanism, created using 3D printing, is incorporated to swiftly release the stored elastic energy at peak contraction. The instantaneous velocities of these movements of the soft robot were calculated using high speed camera. Next, we analyzed several parameters such as the variation in robot length, curvature to which the soft robot prototype's shape deviates from its original state, as well as the relationship between stress and strain. This was achieved by testing the robot's compressibility and deformation. This research not only furthers the domain of soft robotics but also underscores the potential of bio-inspired design principles and advanced materials in the realm of robotic engineering.