Artificial Muscle: A Sarcomere-inspired Magnetic Approach
Ning Li, Zengdong Chen, Kaihan Zhang, Yuqing Sang, Zhuoheng Yu, Ning Xi, Lianqing Liu, Xingang Zhao
Abstract
Soft artificial muscle actuators have gained attention in robotics for their remote control, fast response, and high compliance. However, replicating the intricate and efficient motions of natural muscles remains a challenge. Existing designs often lack the hierarchical and anisotropic properties of muscle sarcomeres, limiting their ability to achieve biomimetic movements. We developed a novel Biomimetic Magnetic Artificial Actuator (BMAA) inspired by muscle sarcomeres. Using a soft magnetic composite material arranged in a hierarchical structure, the actuator mimics the arrangement of actin and myosin filaments. External magnetic fields enable precise control of contraction and relaxation, emulating natural muscle motion. The driver can achieve the motion performance of muscle like motion characteristics, and its driving ability is verified by reptile experiment and elbow experiment. The actuator demonstrates significant deformation, fast response, and excellent controllability, enabling complex and precise movements. This research advances the development of biomimetic soft actuators, offering potential applications in soft robotics, biomedical devices, and artificial muscles, and paving the way for more versatile and intelligent machines.
BibTeX
@inproceedings{iros2025_artificialmuscle,
title = {Artificial Muscle: A Sarcomere-inspired Magnetic Approach},
author = {Ning Li and Zengdong Chen and Kaihan Zhang and Yuqing Sang and Zhuoheng Yu and Ning Xi and Lianqing Liu and Xingang Zhao},
booktitle = {IROS 2025},
year = {2025}
}