Growing Structure Based on Viscous Actuation of Constrained Multistable Elements

Growing soft materials which follow a three dimensional (3D) path in space are critical to applications such as search and rescue minimally invasive surgery. Herein, concept for single-input growing multi-stable material, based on constrained straw-like structure is presented. This class of capable maneuvering transforming their configuration by elongation while executing multiple turns. achieved sequenced actuation bi-stable frusta with predefined constraints. Internal viscous flow variations the stability threshold individual cells enable sequencing control robot's movement so desired 3D grows. A theoretical description shape dynamics resulting from particular set constraints derived. To validate model demonstrate suggested concept, experiments models residential biological environments In addition performing complex maneuvers, tubular these robots may also be used conduit reach inaccessible regions, demonstrated experimentally.