Saved in:
| Main Authors: | , , , , , , , , , , , |
|---|---|
| Format: | Artículo científico |
| Language: | en |
| Published: |
Scientific reports
2026
|
| Online Access: | https://pubmed.ncbi.nlm.nih.gov/41826430/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1868266074569441280 |
|---|---|
| author | Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna |
| author_facet | Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna |
| collection | PubMed - marine biology |
| contents | Unsegmented marine annelids as biomechanical models for soft robotics. Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna This work investigates marine worms as a source of bioinspiration for soft robotics, focusing on (Annelida), an unsegmented sipunculan species with a fully eversible introvert capable of remarkable elongations. High-resolution micro-computed tomography was used to resolve the internal musculoskeletal architecture across functional configurations. Morphometric analyses of live specimens revealed strong differentiation between body regions: trunk length remains nearly constant during motion (7.26 ± 3.40 mm retracted vs. 7.70 ± 3.47 mm extended), whereas total body length more than doubles (from 8.87 ± 4.30 mm to 18.75 ± 7.35 mm), driven by introvert eversion at the tip. Tensile tests further highlighted distinct mechanical properties, with the trunk sustaining substantially higher strains before failure (≈ 90–110%) compared to the introvert (≈ 60–65%). Peristaltic locomotion was investigated using a mathematical model reproducing wave-like propulsion in unsegmented bodies at characteristic speeds of 0.5–5 mm s⁻¹ in confined media and showing close agreement with experimental observations. As an exemplary translation of these mechanisms, a soft robotic architecture based on magneto-responsive silicone was developed enabling stimulus-driven protrusions up to 2.5 times the initial length. Overall, this study provides a biologically grounded framework for innovative soft robotic systems inspired by unsegmented worms. The online version contains supplementary material available at 10.1038/s41598-026-44047-w. |
| format | Artículo científico |
| id | pubmed_41826430 |
| institution | PubMed |
| language | en |
| publishDate | 2026 |
| publisher | Scientific reports |
| record_format | pubmed |
| spellingShingle | Unsegmented marine annelids as biomechanical models for soft robotics. Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna Unsegmented marine annelids as biomechanical models for soft robotics. Paternò, Linda Langeneck, Joachim Keklikoglou, Kleoniki Cedrola, Ilaria Martines, Alessandra Ansari, Mohammad Hasan Dad Dimichele, Desirèe Vernadou, Emmanouela Quaglierini, Jacopo De Simone, Antonio Musco, Luigi Menciassi, Arianna This work investigates marine worms as a source of bioinspiration for soft robotics, focusing on (Annelida), an unsegmented sipunculan species with a fully eversible introvert capable of remarkable elongations. High-resolution micro-computed tomography was used to resolve the internal musculoskeletal architecture across functional configurations. Morphometric analyses of live specimens revealed strong differentiation between body regions: trunk length remains nearly constant during motion (7.26 ± 3.40 mm retracted vs. 7.70 ± 3.47 mm extended), whereas total body length more than doubles (from 8.87 ± 4.30 mm to 18.75 ± 7.35 mm), driven by introvert eversion at the tip. Tensile tests further highlighted distinct mechanical properties, with the trunk sustaining substantially higher strains before failure (≈ 90–110%) compared to the introvert (≈ 60–65%). Peristaltic locomotion was investigated using a mathematical model reproducing wave-like propulsion in unsegmented bodies at characteristic speeds of 0.5–5 mm s⁻¹ in confined media and showing close agreement with experimental observations. As an exemplary translation of these mechanisms, a soft robotic architecture based on magneto-responsive silicone was developed enabling stimulus-driven protrusions up to 2.5 times the initial length. Overall, this study provides a biologically grounded framework for innovative soft robotic systems inspired by unsegmented worms. The online version contains supplementary material available at 10.1038/s41598-026-44047-w. |
| title | Unsegmented marine annelids as biomechanical models for soft robotics. |
| url | https://pubmed.ncbi.nlm.nih.gov/41826430/ |