US 11,837,972 B2
Soft robot using diamagnetic levitation
Taek-Soo Kim, Daejeon (KR); Ji Hun Kim, Daejeon (KR); and Jae-Bum Pyo, Daejeon (KR)
Assigned to KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Filed by KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Filed on Aug. 30, 2022, as Appl. No. 17/898,668.
Claims priority of application No. 10-2021-0115199 (KR), filed on Aug. 31, 2021; and application No. 10-2022-0063214 (KR), filed on May 24, 2022.
Prior Publication US 2023/0068348 A1, Mar. 2, 2023
Int. Cl. H02N 15/00 (2006.01); H01F 1/00 (2006.01)
CPC H02N 15/00 (2013.01) [H01F 1/0018 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A soft robot using diamagnetic levitation levitating on the ground on which a magnetic field is formed, comprising:
a body part formed of a diamagnetic material having a film shape;
one or more head parts formed of the diamagnetic material and connected to an outer peripheral edge of the body part;
a plurality of grip parts formed of the diamagnetic material and connected to the outer peripheral edge of the body part; and
a hygroscopic film of which an expansion rate according to absorption of moisture is different from that of the grip part and which is attached to a first surface of each of the grip parts facing the ground or a second surface of each of the grip parts opposite to the first surface,
wherein when a predetermined point of the head part is heated, magnetic susceptibility of the predetermined point decreases, such that a diamagnetic levitation force of the predetermined point decreases.