Polarization-Controlled Microwave-Actuated Continuum Robot

Abstract

In industrial and medical environments, robotic manipulation frequently encounters dual challenges of spatially constrained workspaces and visual obstructions. Wireless actuation methodologies, leveraging non-contact energy transmission and adaptive control mechanisms, offer an innovative solution to address the limitations of physical interconnections and enhance operational adaptability in structurally confined and uncertain obstructed environments. Here, we implemented a non-contact continuum robotic arm based on microwave-driving with polarization-directed guidance. The system incorporates customized flexible printed circuit (FPC) antennas and spatial microwave energy field modulation to enable wireless actuation and multi-degree-of-freedom (DOF) motion control of the robotic end-effector. By integrating spring supported mechanisms and shape memory alloy (SMA) spring deformation responses, it accomplishes tasks such as obstacle penetration, component grasping, and retrieval—all without physical connections. This study demonstrates precise coupling between directionally controlled microwave energy and mechanical motion in obscured settings, offering a novel approach for non-contact, multi-DOF, and multi-structure robotic operations in sealed or unstructured environments. The proposed methodology significantly expands the potential applications and operational capabilities of robots in complex real-world conditions.