{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T20:01:44Z","timestamp":1792785704603,"version":"4.5.0"},"reference-count":31,"publisher":"IOP Publishing","issue":"5","license":[{"start":{"date-parts":[[2026,9,23]],"date-time":"2026-09-23T00:00:00Z","timestamp":1790121600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/publishingsupport.iopscience.iop.org\/iop-standard\/v1"},{"start":{"date-parts":[[2026,9,23]],"date-time":"2026-09-23T00:00:00Z","timestamp":1790121600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"name":"National Natural Science Foundation of China","award":["52175055"],"award-info":[{"award-number":["52175055"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,10,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Bioinspired soft robots leverage the efficient deformation mechanisms of living organisms to navigate complex environments. Magnetic actuation is a particularly promising modality for these designs due to its wireless control, rapid response, and biocompatibility. However, achieving sophisticated and controllable deformation remains a significant challenge. Inspired by the versatile deformation and stiffness-tuning capabilities of octopus tentacles, this study proposes a programmable magnetic soft robot (PMSR). The PMSR incorporates a truncated cone profile and an axisymmetric V-shaped notch structure to regulate its axial stiffness distribution, with internal magnetization profiles defined via programmable magnetization technology. A magnetic-mechanical coupling finite element model was established, incorporating mesh independence verification and literature benchmarking to systematically investigate deformation behavior of the PMSR under non-uniform magnetic fields derived by permanent magnet (PM). Simulation results demonstrate that adjusting the working distance and rotation angle of PM enables controllable bending. Extensive parametric studies elucidate the influence of notch geometry, magnetization patterns, material stiffness, and remanent magnetization on actuation performance. Furthermore, contact mechanics simulations in simplified vascular interventional scenarios show that the contact pressure between the PMSR tip and the vascular wall remains within a preliminary safe operational limit across various advancement distances and vessel curvatures. This work provides a robust analytical framework for the systematic design and performance prediction of bioinspired magnetically controlled soft robots.<\/jats:p>","DOI":"10.1088\/1748-3190\/ae94cb","type":"journal-article","created":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T22:54:12Z","timestamp":1785884052000},"page":"056016","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and simulation analysis of an octopus-inspired programmable magnetic soft robot"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6092-1467","authenticated-orcid":true,"given":"Huimin","family":"Shen","sequence":"first","affiliation":[{"name":"University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-1161-2047","authenticated-orcid":true,"given":"Xuetao","family":"Shi","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiahao","family":"Song","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bingchu","family":"Li","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7915-6109","authenticated-orcid":true,"given":"Fujia","family":"Sun","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2026,9,23]]},"reference":[{"key":"bbae94cbbib1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ad8053","type":"journal-article","article-title":"Recent progress in soft robots: principles, designs, and applications","volume":"33","author":"Li","year":"2024","journal-title":"Smart Mater. Struct."},{"key":"bbae94cbbib2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/adfbcc","type":"journal-article","article-title":"Recent progress and perspective of magnetic miniature soft robot with multimodal locomotion","volume":"20","author":"Wang","year":"2025","journal-title":"Bioinspir. Biomim."},{"key":"bbae94cbbib3","doi-asserted-by":"publisher","first-page":"482","DOI":"10.1631\/bdm.2400152","type":"journal-article","article-title":"Machine learning-enhanced soft robotic system inspired by rectal functions to investigate fecal incontinence","volume":"8","author":"Mao","year":"2025","journal-title":"Bio-Des. Manuf."},{"key":"bbae94cbbib4","doi-asserted-by":"publisher","first-page":"710","DOI":"10.1109\/JSEN.2023.3332041","type":"journal-article","article-title":"Soft magnetic-actuation-based haptic interface for a robot-assisted vascular interventional system: a feasibility study","volume":"24","author":"Li","year":"2023","journal-title":"IEEE Sens. J."},{"key":"bbae94cbbib5","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmps.2020.104045","type":"journal-article","article-title":"Hard-magnetic elastica","volume":"142","author":"Wang","year":"2020","journal-title":"J. Mech. Phys. Solids"},{"key":"bbae94cbbib6","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmmm.2023.171310","type":"journal-article","article-title":"Flexible magnetic film: key technologies and applications","volume":"587","author":"Shen","year":"2023","journal-title":"J. Magn. Magn. Mater."},{"key":"bbae94cbbib7","doi-asserted-by":"publisher","first-page":"1120","DOI":"10.1089\/soro.2021.0090","type":"journal-article","article-title":"Patient-specific magnetic catheters for atraumatic autonomous endoscopy","volume":"9","author":"Pittiglio","year":"2022","journal-title":"Softw. Robots"},{"key":"bbae94cbbib8","doi-asserted-by":"publisher","first-page":"3937","DOI":"10.1109\/LRA.2020.2983704","type":"journal-article","article-title":"A learnt approach for the design of magnetically actuated shape forming soft tentacle robots","volume":"5","author":"Lloyd","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae94cbbib9","doi-asserted-by":"publisher","first-page":"eabn8932","DOI":"10.1126\/sciadv.abn8932","type":"journal-article","article-title":"Untethered small-scale magnetic soft robot with programmable magnetization and integrated multifunctional modules","volume":"8","author":"Dong","year":"2022","journal-title":"Sci. Adv."},{"key":"bbae94cbbib10","doi-asserted-by":"publisher","first-page":"6007","DOI":"10.1073\/pnas.1608193113","type":"journal-article","article-title":"Shape-programmable magnetic soft matter","volume":"113","author":"Lum","year":"2016","journal-title":"Proc. Natl Acad. Sci. USA"},{"key":"bbae94cbbib11","doi-asserted-by":"publisher","first-page":"5317","DOI":"10.1021\/acs.chemrev.1c00481","type":"journal-article","article-title":"Magnetic soft materials and robots","volume":"122","author":"Kim","year":"2022","journal-title":"Chem. Rev."},{"key":"bbae94cbbib12","doi-asserted-by":"publisher","first-page":"eadh0298","DOI":"10.1126\/scirobotics.adh0298","type":"journal-article","article-title":"Dexterous helical magnetic robot for improved endovascular access","volume":"9","author":"Dreyfus","year":"2024","journal-title":"Sci. Robot."},{"key":"bbae94cbbib13","doi-asserted-by":"publisher","first-page":"nwaf429","DOI":"10.1093\/nsr\/nwaf429","type":"journal-article","article-title":"Swarm coordination of fish-like magnetic soft robots: directed aggregation and shape-adaptive attachment toward efficient drug delivery","volume":"12","author":"Mao","year":"2025","journal-title":"Natl Sci. Rev."},{"key":"bbae94cbbib14","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab3d1b","type":"journal-article","article-title":"A soft continuum robot, with a large variable-stiffness range, based on jamming","volume":"14","author":"Zhao","year":"2019","journal-title":"Bioinspir. Biomim."},{"key":"bbae94cbbib15","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/abf6b9","type":"journal-article","article-title":"A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus","volume":"16","author":"Wu","year":"2021","journal-title":"Bioinspir. Biomim."},{"key":"bbae94cbbib16","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1007\/s40820-025-01762-9","type":"journal-article","article-title":"From coils to crawls: a snake-Inspired soft robot for multimodal locomotion and grasping","volume":"17","author":"Chen","year":"2025","journal-title":"Nano-Micro Lett."},{"key":"bbae94cbbib17","doi-asserted-by":"publisher","first-page":"7849","DOI":"10.1007\/s12206-025-1142-0","type":"journal-article","article-title":"Design and simulation of telescopic picking robot based on octopus-like soft manipulator","volume":"39","author":"Xie","year":"2025","journal-title":"J. Mech. Sci. Technol."},{"key":"bbae94cbbib18","doi-asserted-by":"publisher","first-page":"701","DOI":"10.3390\/mi16060701","type":"journal-article","article-title":"Design and optimization of a tapered magnetic soft continuum robot for enhanced navigation in cerebral vasculature","volume":"16","author":"Wang","year":"2025","journal-title":"Micromachines"},{"key":"bbae94cbbib19","doi-asserted-by":"publisher","first-page":"6555","DOI":"10.1109\/LRA.2023.3307294","type":"journal-article","article-title":"Concentric tube-inspired magnetic reconfiguration of variable stiffness catheters for needle guidance","volume":"8","author":"Richter","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae94cbbib20","doi-asserted-by":"publisher","first-page":"3262","DOI":"10.1109\/LRA.2023.3264770","type":"journal-article","article-title":"A magnetically-actuated coiling soft robot with variable stiffness","volume":"8","author":"Lloyd","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"key":"bbae94cbbib21","doi-asserted-by":"publisher","DOI":"10.1016\/j.matlet.2024.136645","type":"journal-article","article-title":"Magoctopus: bio-inspired small-scale magnetic soft octopus with programmable shape morphing and motions","volume":"367","author":"Gao","year":"2024","journal-title":"Mater. Lett."},{"key":"bbae94cbbib22","doi-asserted-by":"publisher","first-page":"1068","DOI":"10.1089\/soro.2023.0055","type":"journal-article","article-title":"3D printed magnetic bionic robot inspired by octopus for drug transportation","volume":"11","author":"Chen","year":"2024","journal-title":"Softw. Robots"},{"key":"bbae94cbbib23","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202070053","type":"journal-article","article-title":"Untethered octopus-inspired millirobot actuated by regular tetrahedron arranged magnetic field","volume":"2","author":"Dai","year":"2020","journal-title":"Adv. Intell. Syst."},{"key":"bbae94cbbib24","doi-asserted-by":"publisher","DOI":"10.1016\/j.device.2024.100646","type":"journal-article","article-title":"SpiRobs: logarithmic spiral-shaped robots for versatile grasping across scales","volume":"3","author":"Wang","year":"2025","journal-title":"Device"},{"key":"bbae94cbbib25","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ae3a5f","type":"journal-article","article-title":"A review of the structural design of bionic soft robots based on flexible materials","volume":"35","author":"Liu","year":"2026","journal-title":"Smart Mater. Struct."},{"key":"bbae94cbbib26","doi-asserted-by":"publisher","first-page":"1004","DOI":"10.1016\/j.camwa.2012.03.018","type":"journal-article","article-title":"Dynamic modeling and control of an octopus inspired multiple continuum arm robot","volume":"64","author":"Kang","year":"2012","journal-title":"Comput. Math. Appl."},{"key":"bbae94cbbib27","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1021\/acsnano.2c04716","type":"journal-article","article-title":"Microrobots for targeted delivery and therapy in digestive system","volume":"17","author":"Wang","year":"2023","journal-title":"ACS Nano"},{"key":"bbae94cbbib28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/M2VIP55626.2022.10041064)","type":"conference-proceedings","article-title":"Bending actuation of ferromagnetic soft continuum robot under spatially non-uniform magnetic fields","author":"Hao","year":"2022"},{"key":"bbae94cbbib29","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1016\/j.jmps.2018.10.008","type":"journal-article","article-title":"Mechanics of hard-magnetic soft materials","volume":"124","author":"Zhao","year":"2019","journal-title":"J. Mech. Phys. Solids"},{"key":"bbae94cbbib30","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmps.2024.105731","type":"journal-article","article-title":"Model-guided navigation of magnetic soft guidewire for safe endovascular surgery","volume":"190","author":"Li","year":"2024","journal-title":"J. Mech. Phys. Solids"},{"key":"bbae94cbbib31","doi-asserted-by":"publisher","first-page":"3226","DOI":"10.1161\/STROKEAHA.113.002370","type":"journal-article","article-title":"Critical pressure for arterial wall rupture in major human cerebral arteries","volume":"44","author":"Ciszek","year":"2013","journal-title":"Stroke"}],"container-title":["Bioinspiration &amp; Biomimetics"],"original-title":[],"link":[{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb","content-type":"text\/html","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"similarity-checking"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,23]],"date-time":"2026-09-23T09:23:52Z","timestamp":1790155432000},"score":1,"resource":{"primary":{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae94cb"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,23]]},"references-count":31,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2026,9,23]]},"published-print":{"date-parts":[[2026,10,30]]}},"URL":"https:\/\/doi.org\/10.1088\/1748-3190\/ae94cb","relation":{},"ISSN":["1748-3182","1748-3190"],"issn-type":[{"value":"1748-3182","type":"print"},{"value":"1748-3190","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,23]]},"assertion":[{"value":"Design and simulation analysis of an octopus-inspired programmable magnetic soft robot","name":"article_title","label":"Article Title"},{"value":"Bioinspiration & Biomimetics","name":"journal_title","label":"Journal Title"},{"value":"paper","name":"article_type","label":"Article Type"},{"value":"\u00a9 2026 IOP Publishing Ltd. All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2026-02-13","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-08-04","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-09-23","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}