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However, accurately describing the physical evolution mechanism of MSCR transitioning from small to large deformations is challenging due to the nonlinear behaviours caused by magneto-mechanical coupling effects and large deformations. To address this challenge, this paper proposes a State-Dependent Switching Physics-Informed Neural Network (SDS-PINN) for achieving high-precision Prediction of the nonlinear deformation of MSCR across the whole deflection domain (0$^{\\circ }180^{\\circ }$). This method is based on constructing multiphysics coupling models for small and large deformation stages. It dynamically adjusts physical constraints using a state-dependent switching (SDS) mechanism, enabling adaptive switching and continuous modelling between different deformation modes. The effectiveness of the proposed SDS-PINN approach is validated through numerical simulations and comparative experimental studies. Results show that SDS-PINN outperforms traditional PINN in different deformation modes, with a reduction in free-end displacement Prediction error by over 99% in large deformation scenarios. This study proposes a unified and physically interpretable framework for the deformation modelling and control of MSCRs, which significantly enhances prediction accuracy and stability under complex working conditions.<\/jats:p>","DOI":"10.1093\/jcde\/qwaf093","type":"journal-article","created":{"date-parts":[[2025,9,14]],"date-time":"2025-09-14T11:39:25Z","timestamp":1757849965000},"page":"1-13","source":"Crossref","is-referenced-by-count":4,"title":["Full-workspace deformation prediction of magnetic soft continuum robots based on State-Dependent Switching Physics-Informed Neural Network"],"prefix":"10.1093","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-1603-3448","authenticated-orcid":false,"given":"Yongshi","family":"Song","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering, China University of Mining and Technology , Xuzhou 221000 ,","place":["China"]},{"name":"School of Robotics Engineering, Yangtze Normal University , Chongqing 408100 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-7270-8323","authenticated-orcid":false,"given":"Lei","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui University of Science and Technology , Huainan 232001 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5140-1096","authenticated-orcid":false,"given":"Lin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Robotics Engineering, Yangtze Normal University , Chongqing 408100 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-3930-521X","authenticated-orcid":false,"given":"Zixuan","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui University of Science and Technology , Huainan 232001 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-0843-4237","authenticated-orcid":false,"given":"Fuxiang","family":"An","sequence":"additional","affiliation":[{"name":"School of Robotics Engineering, Yangtze Normal University , Chongqing 408100 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-2815-329X","authenticated-orcid":false,"given":"Yuhang","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui University of Science and Technology , Huainan 232001 ,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"286","published-online":{"date-parts":[[2025,9,15]]},"reference":[{"key":"2025120513041362300_bib1","doi-asserted-by":"publisher","first-page":"495","DOI":"10.1631\/bdm.2400276","article-title":"A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology","volume":"8","author":"Cao","year":"2025","journal-title":"Bio-Design and Manufacturing"},{"key":"2025120513041362300_bib2","doi-asserted-by":"publisher","first-page":"728","DOI":"10.1039\/D0MH01406K","article-title":"Light-driven bimorph soft actuators: design, fabrication, and properties","volume":"8","author":"Chen","year":"2021","journal-title":"Materials Horizons"},{"key":"2025120513041362300_bib3","doi-asserted-by":"publisher","first-page":"1287","DOI":"10.1126\/science.abn0090","article-title":"Design and printing of proprioceptive three-dimensional architected robotic metamaterials","volume":"376","author":"Cui","year":"2022","journal-title":"Science"},{"key":"2025120513041362300_bib4","doi-asserted-by":"publisher","first-page":"eaay2627","DOI":"10.1126\/scirobotics.aay2627","article-title":"Electronics-free pneumatic circuits for controlling soft-legged robots","volume":"6","author":"Drotman","year":"2021","journal-title":"Science Robotics"},{"key":"2025120513041362300_bib5","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1007\/s12213-013-0070-8","article-title":"Comparison, optimization, and limitations of magnetic manipulation systems","volume":"8","author":"Erni","year":"2013","journal-title":"Journal of Micro-Bio Robotics"},{"key":"2025120513041362300_bib6","doi-asserted-by":"publisher","first-page":"085020","DOI":"10.1088\/1361-665X\/ab2b05","article-title":"Magneto-visco-hyperelasticity for hard-magnetic soft materials: Theory and numerical applications","volume":"28","author":"Garcia-Gonzalez","year":"2019","journal-title":"Smart Mater. 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