Numerical Study of Metachronal Wave-Modulated Locomotion in Magnetic Cilia Carpets

Article Materials Science, Multidisciplinary

A reduced-order, rotation-based model for thin hard-magnetic plates

Dong Yan et al.

Summary: We develop a reduced-order model for hard magnetorheological elastomer (hard-MRE) thin plates, propose a new magnetic potential, and validate the accuracy and prediction capability of the model through experiments.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2023)

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Article Engineering, Mechanical

Modeling of magnetic cilia carpet robots using discrete differential geometry formulation

Weicheng Huang et al.

Summary: A numerical framework based on discrete differential geometry (DDG) is used to analyze the dynamics of bio-inspired cilia carpet robots powered by an external magnetic field. The model accurately captures the behavior of the active cilia and the carpet, and provides insights for the optimal design of cilia-inspired soft robots for biomedical applications. The framework is computationally efficient and can simulate dynamic locomotion such as crawling and rolling. (c) 2023 Elsevier Ltd. All rights reserved.

EXTREME MECHANICS LETTERS (2023)

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Article Engineering, Mechanical

A discrete model for the geometrically nonlinear mechanics of hard-magnetic slender structures

Weicheng Huang et al.

Summary: Hard-magnetic soft materials and structures have attracted wide attention in various engineering applications due to their rapid configurational transformation under non-contact magnetic stimuli. Predicting their mechanical responses is crucial for realizing their full potentials. In this work, we propose a discrete magneto-elastic rod model to analyze the mechanical behaviors of slender structures made of HMS materials. The model considers the dipole-dipole interaction and viscous effect and significantly improves the computational efficiency for simulating the mechanical, especially dynamic, behaviors of hard-magnetic slender structures.

EXTREME MECHANICS LETTERS (2023)

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Article Automation & Control Systems

Adaptive Actuation of Magnetic Soft Robots Using Deep Reinforcement Learning

Jianpeng Yao et al.

Summary: Magnetic soft robots have unique advantages in untethered actuation and controllability, and this study develops an intelligent method based on deep reinforcement learning algorithms to solve the inverse problem of finding workable magnetic fields for strip-like soft robots. The model incorporates magnetic torques and a dissipation force to simulate the dynamics of MSRs, and under the reinforcement learning framework, successfully trains the soft robots to move forward without human guidance. The learned actuation strategies are validated by applying simulated magnetic fields to real MSRs, demonstrating the potential of using reinforcement learning for autonomous actuation of MSRs and establishing a highly adaptive design framework.

ADVANCED INTELLIGENT SYSTEMS (2023)

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Article Automation & Control Systems

Reprogrammable Magnetically Actuated Self-Assembled Cilia Array

Sunwoo Sohn et al.

Summary: This article introduces a self-assembly method to create a reprogrammable magnetically actuated cilia array that mimics the movement of motile cilia. By applying different magnetic fields, fluid mixing and pumping can be achieved.

ADVANCED INTELLIGENT SYSTEMS (2023)

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Article Mechanics

A comprehensive framework for hard-magnetic beams: Reduced-order theory, 3D simulations, and experiments

Dong Yan et al.

Summary: The study proposed a comprehensive framework to describe the behavior of hard-MRE beams under different magnetic fields, validated the model through experiments, and provided a useful predictive toolbox for the rational design of hard-magnetic structures.

INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES (2022)

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Article Computer Science, Interdisciplinary Applications

LAMMPS-a flexible simulation tool for particle-based materials modeling at the atomic, meso, and continuum scales

Aidan P. Thompson et al.

Summary: LAMMPS, a classical molecular dynamics simulator released as an open source code in 2004, has gained popularity for its wide variety of particle interaction models, platform compatibility, and user control over simulation details. With contributions from numerous developers, it has grown from 50,000 lines of code to a million today, showcasing new capabilities like dynamic load balancing and quantum-accuracy machine learning interatomic potentials.

COMPUTER PHYSICS COMMUNICATIONS (2022)

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Article Materials Science, Multidisciplinary

A Kirchhoff-like theory for hard magnetic rods under geometrically nonlinear deformation in three dimensions

Tomohiko G. Sano et al.

Summary: This paper presents an effective theory for MRE rods under geometrically nonlinear deformation in three dimensions and validates the theory through precision experiments. However, the experiments show that long-range dipole-dipole interactions, neglected in the theory, may play a role in the material's behavior.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2022)

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Review Chemistry, Analytical

Microfluidic Applications of Artificial Cilia: Recent Progress, Demonstration, and Future Perspectives

Vignesh Sahadevan et al.

Summary: Artificial cilia-based microfluidics is a promising technique for lab-on-a-chip applications, offering precise manipulation of fluid flow and potential biomedical applications. With their capabilities in mixing, pumping, transporting, and sensing, artificial cilia enable next-generation advancements in precision medicine, digital nanofluidics, and lab-on-chip systems.

MICROMACHINES (2022)

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Article Multidisciplinary Sciences

Locomotion of an untethered, worm-inspired soft robot driven by a shape-memory alloy skeleton

Lin Xu et al.

Summary: Soft, worm-like mag-bots, inspired by fly larvae, use shape memory alloy-induced actuation and surface pattern-induced anisotropic friction for locomotion. This untethered design can carry cargo up to three times its own weight with minimal speed reduction, making it suitable for controlled environments. These low-cost, small scale robots can be used in remote spaces for small objects handling or as components in more complex designs.

SCIENTIFIC REPORTS (2022)

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Article Nanoscience & Nanotechnology

Natural Cilia and Pine Needles Combinedly Inspired Asymmetric Pillar Actuators for All-Space Liquid Transport and Self-Regulated Robotic Locomotion

Jiaqi Miao et al.

Summary: This paper reports an asymmetric-structured intelligent magnetic pillar actuator (AI-MPA) inspired by pine needles and natural cilia. The AI-MPA is capable of all-space liquid transport in arbitrary directions and has self-regulating beating modes. This study provides insights into functional and intelligent miniature biomimetic systems.

ACS APPLIED MATERIALS & INTERFACES (2022)

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Article Materials Science, Multidisciplinary

A geometrically exact model for thin magneto-elastic shells

Matteo Pezzulla et al.

Summary: We develop a reduced model for hard-magnetic, thin, linear-elastic shells that can be actuated by an external magnetic field. Through numerical analysis, we derive a simplified two-dimensional magneto-elastic energy and provide a physical interpretation by expanding the energy up to the second order. By comparing with a three-dimensional nonlinear model, we verify the effectiveness of our model. This model is of great significance for the rational design of magnetic structures.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2022)

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Article Multidisciplinary Sciences

Soft-robotic ciliated epidermis for reconfigurable coordinated fluid manipulation

Ziyu Ren et al.

Summary: In this study, we propose an electrically driven soft-robotic ciliated epidermis with multiple independently controlled polypyrrole bending actuators. The beating kinematics and coordination of multiple actuators can be reconfigured to control fluid transportation, enabling fluid manipulation on various surfaces.

SCIENCE ADVANCES (2022)

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Article Automation & Control Systems

Magnet-Driven Microwalker in Surface Motion Based on Frictional Anisotropy

Yuanjun Jia et al.

Summary: This paper proposes a magnetically powered and frictional anisotropy-based microwalker that can potentially be used in nonliquid-filled environment. The microwalker is constructed by rigid segments connected by a joint and has gecko setae-like tentacles for friction generation. The microwalker can be controlled to move in low-Reynolds regimes and climb slopes driven by a planar magnetic field. Several experiments have demonstrated its good motion capability. This study provides a new solution to microrobot design for future biomedical applications.

ADVANCED INTELLIGENT SYSTEMS (2022)

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Article Automation & Control Systems

Magnetically Actuated Reconfigurable Metamaterials as Conformal Electromagnetic Filters

Shuai Wu et al.

Summary: This article introduces a new type of magnetically actuated structurally reconfigurable electromagnetic metamaterial, which can achieve rapid, reversible, and programmable shape morphing, with better adaptability and deformability than traditional metamaterials.

ADVANCED INTELLIGENT SYSTEMS (2022)

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Article Automation & Control Systems

Locomotion of Sensor-Integrated Soft Robotic Devices Inside Sub-Millimeter Arteries with Impaired Flow Conditions

Lucio Pancaldi et al.

Summary: This study introduces a sensor-integrated soft robotic device that navigates sub-millimeter arteries by extracting propulsive power from external magnetic fields. It demonstrates the potential of this technology for minimally invasive diagnosis and therapy.

ADVANCED INTELLIGENT SYSTEMS (2022)

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Article Automation & Control Systems

Magnetic Arthropod Millirobots Fabricated by 3D-Printed Hydrogels

Bonan Sun et al.

Summary: Magnetic soft millirobots with joint structures developed by 3D printing hydrogels can achieve larger motions and reduce energy consumption by converting bending deformation into folding deformation through local deformation. These robots are capable of performing multimodal locomotion and programmed shape transformation, with potential surgical applications demonstrated in ex vivo experiments.

ADVANCED INTELLIGENT SYSTEMS (2022)

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Article Mathematics, Applied

Palabos: Parallel Lattice Boltzmann Solver

Jonas Latt et al.

Summary: This article presents the scope, concepts, data structures and application programming models of the open-source Lattice Boltzmann library Palabos, which is specifically developed for applications with complex, coupled physics. Palabos offers a broad modeling framework capable of addressing various applications in the Lattice Boltzmann community, while maintaining solid computational performance. Additionally, benchmark simulations are provided as a proof of the quality of the implemented core functionalities.

COMPUTERS & MATHEMATICS WITH APPLICATIONS (2021)

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Article Engineering, Multidisciplinary

Fundamental understanding of millipede morphology and locomotion dynamics

Anthony Garcia et al.

Summary: This study provides a detailed model for the locomotory mechanics of millipedes and their metachronal gait, as well as the modulation of forward thrust for burrowing and climbing. The research also highlights the importance of morphological features in optimizing locomotory and burrowing functions for millipedes.

BIOINSPIRATION & BIOMIMETICS (2021)

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Article Materials Science, Multidisciplinary

Contact with coupled adhesion and friction: Computational framework, applications, and new insights

Janine C. Mergel et al.

Summary: This study developed a finite element framework to capture 3D finite-strain contact of two deformable bodies and conducted various test cases for validation. The research results not only successfully simulated experimental and theoretical findings, but also provided new insights.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2021)

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Article Mechanics

A microstructural-based approach to model magneto-viscoelastic materials at finite strains

Daniel Garcia-Gonzalez et al.

Summary: Magneto-active polymers (MAPs) consist of a polymeric matrix filled with magnetisable particles that can change mechanical properties under external magnetic stimuli. Existing models fail to capture specific physics features, while a new continuum constitutive model based on microstructure origins shows promise in predicting the magneto-mechanical behavior of MAPs, validated with experimental data.

INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES (2021)

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Article Nanoscience & Nanotechnology

Metachronal μ-Cilia for On-Chip Integrated Pumps and Climbing Robots

Shuaizhong Zhang et al.

Summary: A simple method to create metachronal microscopic magnetic artificial cilia (mu MAC) is demonstrated, allowing for strong microfluidic pumping and soft robot locomotion. These metachronal mu MAC show twice the pumping efficiency and three times the locomotion speed of synchronously moving mu MAC. The design also results in soft robots with unprecedented slope climbing ability and strong cargo-carrying capacity in dry and wet conditions.

ACS APPLIED MATERIALS & INTERFACES (2021)

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Article Chemistry, Physical

Magttice: a lattice model for hard-magnetic soft materials

Huilin Ye et al.

Summary: Magnetic actuation is widely used in various fields and requires an efficient modeling/simulation platform for researchers to leverage. Researchers have proposed a magttice model to achieve magnetic actuation through nodal forces. The model is validated in hard-magnetic soft materials and then applied to smart structures.

SOFT MATTER (2021)

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Article Materials Science, Multidisciplinary

Metachronal waves in magnetic micro-robotic paddles for artificial cilia

Matthew T. Bryan et al.

Summary: By making simple modifications to the structural design of micro-robotic paddles, spontaneous formation of metachronal waves has been achieved, driving fluid flow speeds of up to 16 µm/s. This technology has the potential to improve flow efficiency and reagent mixing in microfluidic point-of-care devices.

COMMUNICATIONS MATERIALS (2021)

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Review Materials Science, Multidisciplinary

Soft Crawling Robots: Design, Actuation, and Locomotion

Shoue Chen et al.

ADVANCED MATERIALS TECHNOLOGIES (2020)

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Article Multidisciplinary Sciences

Dynamic simulation of articulated soft robots

Weicheng Huang et al.

NATURE COMMUNICATIONS (2020)

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Article Multidisciplinary Sciences

Magnetic cilia carpets with programmable metachronal waves

Hongri Gu et al.

NATURE COMMUNICATIONS (2020)

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Article Multidisciplinary Sciences

Soft electromagnetic actuators

Guoyong Mao et al.

SCIENCE ADVANCES (2020)

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Article Nanoscience & Nanotechnology

Metachronal Actuation of Microscale Magnetic Artificial Cilia

Srinivas Hanasoge et al.

ACS APPLIED MATERIALS & INTERFACES (2020)

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Article Chemistry, Multidisciplinary

Reprogrammable Ferromagnetic Domains for Reconfigurable Soft Magnetic Actuators

Hyeonseo Song et al.

NANO LETTERS (2020)

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Article Materials Science, Multidisciplinary

Hard-magnetic elastica

Liu Wang et al.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2020)

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Article Automation & Control Systems

Evolutionary Algorithm-Guided Voxel-Encoding Printing of Functional Hard-Magnetic Soft Active Materials

Shuai Wu et al.

ADVANCED INTELLIGENT SYSTEMS (2020)

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Review Chemistry, Multidisciplinary

Medical micro/nanorobots in complex media

Zhiguang Wu et al.

CHEMICAL SOCIETY REVIEWS (2020)

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Article Multidisciplinary Sciences

Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination

Xiaoguang Dong et al.

SCIENCE ADVANCES (2020)

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Article Biochemical Research Methods

Metachronal actuation of microscopic magnetic artificial cilia generates strong microfluidic pumping

Shuaizhong Zhang et al.

LAB ON A CHIP (2020)

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Article Computer Science, Interdisciplinary Applications

OpenFSI: A highly efficient and portable fluid-structure simulation package based on immersed-boundary method

Huilin Ye et al.

COMPUTER PHYSICS COMMUNICATIONS (2020)

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Article Materials Science, Multidisciplinary

Mechanics of hard-magnetic soft materials

Ruike Zhao et al.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2019)

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Article Robotics

A Fully Three-Dimensional Printed Inchworm-Inspired Soft Robot with Magnetic Actuation

Erina B. Joyee et al.

SOFT ROBOTICS (2019)

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Article Robotics

Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions

Tianqi Xu et al.

SCIENCE ROBOTICS (2019)

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Article Robotics

Ferromagnetic soft continuum robots

Yoonho Kim et al.

SCIENCE ROBOTICS (2019)

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Article Nanoscience & Nanotechnology

Symmetry-Breaking Actuation Mechanism for Soft Robotics and Active Metamaterials

Shuai Wu et al.

ACS APPLIED MATERIALS & INTERFACES (2019)

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Nanomagnetic encoding of shape-morphing micromachines

Jizhai Cui et al.

NATURE (2019)

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Microfluidic pumping using artificial magnetic cilia

Srinivas Hanasoge et al.

MICROSYSTEMS & NANOENGINEERING (2018)

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Printing ferromagnetic domains for untethered fast-transforming soft materials

Yoonho Kim et al.

NATURE (2018)

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A bioinspired multilegged soft millirobot that functions in both dry and wet conditions

Haojian Lu et al.

NATURE COMMUNICATIONS (2018)

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Article Robotics

Soft wall-climbing robots

Guoying Gu et al.

SCIENCE ROBOTICS (2018)

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Article Physics, Multidisciplinary

Vortex arrays and ciliary tangles underlie the feeding-swimming trade-off in starfish larvae

William Gilpin et al.

NATURE PHYSICS (2017)

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Article Robotics

Design and Locomotion Control of a Soft Robot Using Friction Manipulation and Motor-Tendon Actuation

Vishesh Vikas et al.

IEEE TRANSACTIONS ON ROBOTICS (2016)

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Shape-programmable magnetic soft matter

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PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA (2016)

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Review Physics, Multidisciplinary

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

Jeffrey Aguilar et al.

REPORTS ON PROGRESS IN PHYSICS (2016)

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Vortical ciliary flows actively enhance mass transport in reef corals

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PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA (2014)

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Ground fluidization promotes rapid running of a lightweight robot

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2013)

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A finite-strain constitutive model for magnetorheological elastomers: Magnetic torques and fiber rotations

Evan Galipeau et al.

JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2013)

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Bio-inspired magnetic swimming microrobots for biomedical applications

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Emergence of metachronal waves in cilia arrays

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PLEOPOD ROWING IS USED TO ACHIEVE HIGH FORWARD SWIMMING SPEEDS DURING THE ESCAPE RESPONSE OF ODONTODACTYLUS HAVANENSIS (STOMATOPODA)

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Experiments and modeling of iron-particle-filled magnetorheological elastomers

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Cargo-Towing Fuel-Free Magnetic Nanoswimmers for Targeted Drug Delivery

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Magnetically-actuated artificial cilia for microfluidic propulsion

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LAB ON A CHIP (2011)

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Discrete-element modeling of particulate aerosol flows

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Micro-fluidic actuation using magnetic artificial cilia

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LAB ON A CHIP (2009)

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On finitely strained magnetorheological elastomers

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JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2004)

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Article Mechanics

Magnetoelastic modelling of elastomers

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EUROPEAN JOURNAL OF MECHANICS A-SOLIDS (2003)

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On the magneto-elastic properties of elastomer-ferromagnet composites

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JOURNAL OF THE MECHANICS AND PHYSICS OF SOLIDS (2001)

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Numerical Study of Metachronal Wave-Modulated Locomotion in Magnetic Cilia Carpets

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