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The DOI matches its Crossref record; 38 of the 38 references it cites were found in a registry or an index.

A soft perceptive multimodal locomotion robot via double-helix fiber-reinforced artificial muscles

Wang, Yufeng, Li, Chenchen, Peng, Yulian, Xu, Yingao, Wang, Jinxing, Wei, Zhipeng, Wang, Zhengyan, Wu, Houping, Wang, Hongbo·2026·The Innovation
DOI 10.1016/j.xinn.2026.101320
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Abstract

Pneumatic artificial muscle has a high payload-to-weight ratio and rapid response with rich form factors and great design flexibility, making it a promising candidate for muscle-driven bioinspired robots. Here, we propose a perceptive pneumatic artificial muscle (PPAM) with self-length sensing via a seamlessly integrated double-helix conductive fiber coil. The double-helix coil fiber restricts the radial expansion of the silicone tube to achieve axial extension in actuation and measures its own length with a resolution of 10 μm by monitoring its self-inductance. A perceptive multimodal locomotion robot using three PPAMs as a bundle was developed, with crawling, turning, lateral movement, and rolling capabilities. By applying machine learning to analyze the three-channel inductance changes caused by body deformation under different loading conditions, the PPAM-based soft robot can recognize different external stimuli with an average accuracy of 99.28%. It is demonstrated that the soft robot can recognize a deep pit and bypass it automatically, change its gait amplitude to crawl through a low-roof tunnel, and sense its body posture change when a side flip occurs and automatically rolls back to its original position. In summary, the robot can perceive its own state and environment like a biological worm and can actively adjust its locomotion gait/mode to navigate itself through diverse terrains.

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Citations

Cites

Research works printed but not linked: 6

  1. Gong, 2024, An intelligent spinal soft robot with self-sensing adaptability, Innovation, 5
  2. Vargas, 2024, Task-driven neural network models predict neural dynamics of proprioception, Cell, 187
  3. Zhang, 2019, Robotic Artificial Muscles: Current Progress and Future Perspectives, IEEE Trans. Robot., 35, 761, 10.1109/TRO.2019.2894371 · DOI · Paper page
  4. Li, 2024, Yarn-grouping weaving soft robotics with directional inflation, bilateral bending, and self-sensing for healthcare, Cell Rep. Phys. Sci., 5
  5. Wang, 2021, Recent Progress in Artificial Muscles for Interactive Soft Robotics, Adv. Mater., 33
  6. Wang, 2024, Toward human-like touch sense via a bioinspired soft finger with self-decoupled bending and force sensing, Cell Rep. Phys. Sci., 5

Metadata

Authors
Wang, Y., Li, C., Peng, Y., Xu, Y., Wang, J., Wei, Z., Wang, Z., Wu, H., & Wang, H.
Venue
The Innovation
Publisher
Elsevier BV
Published
2026-07
Volume
7
Issue
7
Pages
101320
ISSN
2666-6758
DOI
10.1016/j.xinn.2026.101320
Cited by
1
References
38
Language
en
Licence
Funders
  • National Natural Science Foundation of China (52275579)
  • Chinese Academy of Sciences
  • University of Science and Technology of China

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