Magnetic driven tentacles for bio-mimic motion

In this paper, we introduce our developed magnetically actuated artificial tentacles. Tentacles are found in nature, for example, in cuttlefish, octopus, and jellyfish. These natural tentacles have flexibility without skeletons or joints and can move in complex ways. In the present work, we propose an actuation system for the complicated motion of the tentacles and developed a method to fabricate an artificial tentacle composed of a silicone elastomer and hard magnetic particles. The present tentacles could be actuated and controlled by an applied rotating magnetic field. A 2-dimensional simulation system was also developed to predict the motion of the artificial tentacles. The simulated results showed good agreement with experimental data. Finally, an artificial tentacle was prepared to show that the tip of the structure was controlled to draw some motion. A periodic circular motion was demonstrated as an example.