3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots

Abstract

The properties of radio frequency electromagnetic systems can be manipulated by changing the 3D geometry of the system. Most reconfiguration schemes specify different conductive pathways using electrical switches in mechanically static systems, or they actuate and reshape a continuous metallic structure. Here, we demonstrate a novel strategy that utilizes soft continuum robots to both dynamically assemble electrical pathways and mechanically reconfigure 3D electromagnetic devices. Our concept consists of using soft robotic actuation to conductively connect multiple subwavelength-scale metallic building blocks, which form into electromagnetic structures when joined together. Soft robots offer an exciting avenue for electromagnetic device construction because they can form complex, high curvature shapes from low-loss dielectric materials using straightforward manufacturing methods. As a proof of concept, we experimentally implement a helical antenna that can switch chirality through tendon actuation of a soft pneumatic continuum robot. Our work introduces a new paradigm for electromagnetic reconfiguration using soft robotic platforms.