{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T07:56:21Z","timestamp":1790582181191,"version":"4.1.0"},"reference-count":38,"publisher":"Wiley","license":[{"start":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T00:00:00Z","timestamp":1790553600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"},{"start":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T00:00:00Z","timestamp":1790553600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100008656","name":"Iketani Science and Technology Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100008656","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Materials"],"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    Biohybrid robots powered by muscle tissues offer flexibility and silent actuation, and ring\u2010shaped muscle tissues (muscle rings) are promising modular actuators. However, locomotion in muscle\u2010ring\u2010driven robots remains limited by bending resistance and leg geometry of their skeletons. At reliably printable dimensions, straight\u2010beam backbones resist bending and restrict muscle\u2010driven deformation. Thinning the beam increases bending compliance but reduces torsional stiffness and conflicts with fabrication limits. Predominantly vertical legs, oriented perpendicular to the substrate, limit conversion of contraction\u2013relaxation cycles into directional displacement. Here, we present a biohybrid crawling robot combining two complementary structural elements. Compared with a straight beam producing the same bending displacement, the spiral\u2010spring backbone maintains a larger, printable cross\u2010section and exhibits greater resistance to unintended torsional deformation, supporting axial postural stability. This geometry facilitates transmission of muscle\u2010generated force into large\u2010amplitude body deformation. Additionally, outward\u2010inclined legs with unequal front\u2013rear lengths introduce phase\u2010dependent frictional anchoring that converts cyclic deformation into directional strides. Integrating these elements, the robot achieved a forward speed of 2.0\u00a0mm s\n                    <jats:sup>\u2212<\/jats:sup>\n                    <jats:sup>1<\/jats:sup>\n                    (14 body lengths per minute), exceeding those of previously reported muscle\u2010powered crawling and walking robots. These results establish a structural design principle that balances bending compliance, torsional resistance, printability, and directional anchoring to improve biohybrid locomotion.\n                  <\/jats:p>","DOI":"10.1002\/adma.75167","type":"journal-article","created":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T07:18:46Z","timestamp":1790579926000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Biohybrid Crawling Robot With Spiral\u2010Spring Backbone and Inclined Legs for Enhanced Locomotion"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9228-9354","authenticated-orcid":false,"given":"Tomohiro","family":"Morita","sequence":"first","affiliation":[{"name":"Department of Mechano\u2010Informatics Graduate School of Information Science and Technology The University of Tokyo  Tokyo Japan"},{"name":"Department of Mechanical Engineering School of Engineering Institute of Science Tokyo  Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3836-6318","authenticated-orcid":false,"given":"Minghao","family":"Nie","sequence":"additional","affiliation":[{"name":"Department of Mechano\u2010Informatics Graduate School of Information Science and Technology The University of Tokyo  Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6946-0409","authenticated-orcid":false,"given":"Shoji","family":"Takeuchi","sequence":"additional","affiliation":[{"name":"Department of Mechano\u2010Informatics Graduate School of Information Science and Technology The University of Tokyo  Tokyo Japan"},{"name":"International Research Center for Neurointelligence The University of Tokyo  Tokyo Japan"},{"name":"Kanagawa Institute of Industrial Science and Technology (KISTEC)  Ebina Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,9,28]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaq0495"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44182\u2010025\u201000049\u2010w"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00223\u2010014\u20109915\u2010y"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/adhm.201700030"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adu8634"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1907051116"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adu5830"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1516139113"},{"key":"e_1_2_10_10_1","doi-asserted-by":"crossref","DOI":"10.1063\/5.0091507","article-title":"Multi\u2010Actuator 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B.Jo M.Nie andS.Takeuchi \u201cIn Vitro Assembly of Muscle Rings and Bioprinted Hydrogel for Branching Tubular Tissue Constructs \u201d in2023 IEEE 36th International Conference on Micro Electro Mechanical Systems (MEMS)(IEEE 2023) 378\u2013380 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