水下无人系统学报2025，Vol.33Issue(5)：780-794,15.DOI:10.11993/j.issn.2096-3920.2025-0080
液态金属驱动水下软体机器人研究进展综述
A Review of Research Progress on Liquid Metal-Driven Underwater Soft Robotics
摘要
Abstract
With the rapid advancement of key technologies in soft robotics,liquid metals have emerged as a focus in this field due to their unique properties,including low melting point,high electrical conductivity,superior thermal conductivity,and excellent fluidity.Liquid metals(such as gallium-based alloys)have significantly enhanced their auxiliary application potential in actuation systems through approaches like magnetic reinforcement,electroactive enhancement,and structural optimization.As conductive materials and flexible electrodes,they demonstrate great potential in actuation,sensing,and multi-degree-of-freedom(multi-DOF)motion.This review systematically summarized the functional characteristics,actuation mechanisms,and sensing technologies of liquid metals,with particular emphasis on their current applications and challenges in underwater soft robotics.To date,liquid metal-based actuators have achieved diverse actuation modes,including electrothermal,electrochemical,and magnetic driving mechanisms,while sensors have made breakthroughs in high-sensitivity strain detection,pressure sensing,and multimodal signal monitoring.Nevertheless,the realization of multi-DOF motion in underwater environments still faces technical challenges,such as complex actuation mechanisms,insufficient material stability,and imperfect control systems.Future research needs to further overcome these technical bottlenecks to advance the practical application of liquid metal-driven underwater soft robots.关键词
液态金属/软体机器人/多自由度运动/水下应用/驱动与传感Key words
liquid metal/soft robotics/multi-degree-of-freedom motion/underwater applications/actuation and sensing分类
武器工业引用本文复制引用
蔡乐尧,王神龙..液态金属驱动水下软体机器人研究进展综述[J].水下无人系统学报,2025,33(5):780-794,15.基金项目
国家自然科学基金面上项目(12172226) （12172226）
中央高校基本科研业务费专项资金(CSA-TS202404). （CSA-TS202404）
