This study proposes a novel one-piece-mold folded diaphragm inspired by earthworm locomotion. This diaphragm, with radial magnetization, achieves large 3D and bidirectional deformation with internal volume changes under a low homogeneous magnetic field (40 mT). Its customizable design allows integration into various untethered soft robots. The researchers demonstrate its application in diaphragm pumps and biomimetic robots (earthworm-like crawling and squid-inspired swimming robots), showcasing flexible and rapid locomotion driven by a single homogeneous magnetic field.

Dezhao Lin, Fan Yang, Di Gong, Ruihong Li