Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments

Sze Jia Teo; Hermes Bloomfield-Gadêlha; Ryan A Palmer

doi:10.1109/RoboSoft63089.2025.11020818

Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments

Sze Jia Teo
, Hermes Bloomfield-Gadêlha
, Ryan A Palmer^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Abstract

The elastohydrodynamics of microscopic filaments is of broad scientific and engineering interest since it underlies many biological processes. Whilst mathematical models and experimental studies are commonly used to inform the design of more effective and compliant bio-inspired soft robots, in the case of elastic, microscopic filaments, several difficulties arise due to the scale of these biological systems and the complexity of the fluid-elastic interactions that arise. Therefore, this paper presents a novel macroscopic robotic platform to experimentally and empirically analyse the elastohydrodynamics of microscopic filaments under various conditions by using dynamically-scaled, soft-rigid filaments. Further novelty arises in the platform’s capability to automatically collect and process kinematic and force data. The accuracy of this experimental setup is evaluated by comparing the kinematic results of the experimental filament with a representative elastohydrodymanic mathematical model of a microscopic filament. The experimental results from 135 trials demonstrate strong agreement with the theoretical framework and high reliability with low variance across trials and low mean error. Overall, the platform is a robust and efficient tool for studying microscopic filaments, with potential applications in optimising soft-microrobot propulsion.

Original language	English
Title of host publication	2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Number of pages	6
ISBN (Electronic)	9798331520205
ISBN (Print)	9798331520212
DOIs	https://doi.org/10.1109/RoboSoft63089.2025.11020818
Publication status	Published - 4 Jun 2025
Event	8th IEEE-RAS International Conference on Soft Robotics - Lausanne, Switzerland Duration: 23 Apr 2025 → 26 Apr 2025 https://robosoft2025.org/

Publication series

Name	IEEE International Conference on Soft Robotics (RoboSoft)
Publisher	IEEE
ISSN (Print)	2769-4526
ISSN (Electronic)	2769-4534

Conference

Conference	8th IEEE-RAS International Conference on Soft Robotics
Abbreviated title	ROBOSOFT 2025
Country/Territory	Switzerland
City	Lausanne
Period	23/04/25 → 26/04/25
Internet address	https://robosoft2025.org/

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Research Groups and Themes

Robotics

Keywords

Soft Robotics
Microrobotics
Flagella
Elastohydrodynamics of Filaments

Access to Document

10.1109/RoboSoft63089.2025.11020818

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Accepted author manuscript, 18.3 MBLicence: CC BY

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Teo, S. J., Bloomfield-Gadêlha, H., & Palmer, R. A. (2025). Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments. In 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft) (IEEE International Conference on Soft Robotics (RoboSoft)). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/RoboSoft63089.2025.11020818

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title = "Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments",

abstract = "The elastohydrodynamics of microscopic filaments is of broad scientific and engineering interest since it underlies many biological processes. Whilst mathematical models and experimental studies are commonly used to inform the design of more effective and compliant bio-inspired soft robots, in the case of elastic, microscopic filaments, several difficulties arise due to the scale of these biological systems and the complexity of the fluid-elastic interactions that arise. Therefore, this paper presents a novel macroscopic robotic platform to experimentally and empirically analyse the elastohydrodynamics of microscopic filaments under various conditions by using dynamically-scaled, soft-rigid filaments. Further novelty arises in the platform{\textquoteright}s capability to automatically collect and process kinematic and force data. The accuracy of this experimental setup is evaluated by comparing the kinematic results of the experimental filament with a representative elastohydrodymanic mathematical model of a microscopic filament. The experimental results from 135 trials demonstrate strong agreement with the theoretical framework and high reliability with low variance across trials and low mean error. Overall, the platform is a robust and efficient tool for studying microscopic filaments, with potential applications in optimising soft-microrobot propulsion.",

keywords = "Soft Robotics, Microrobotics, Flagella, Elastohydrodynamics of Filaments",

author = "Teo, \{Sze Jia\} and Hermes Bloomfield-Gad{\^e}lha and Palmer, \{Ryan A\}",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 8th IEEE-RAS International Conference on Soft Robotics, ROBOSOFT 2025 ; Conference date: 23-04-2025 Through 26-04-2025",

year = "2025",

month = jun,

day = "4",

doi = "10.1109/RoboSoft63089.2025.11020818",

language = "English",

isbn = "9798331520212",

series = "IEEE International Conference on Soft Robotics (RoboSoft)",

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}

Teo, SJ , Bloomfield-Gadêlha, H & Palmer, RA 2025, Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments. in 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE International Conference on Soft Robotics (RoboSoft), Institute of Electrical and Electronics Engineers (IEEE), 8th IEEE-RAS International Conference on Soft Robotics, Lausanne, Switzerland, 23/04/25. https://doi.org/10.1109/RoboSoft63089.2025.11020818

Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments. / Teo, Sze Jia ; Bloomfield-Gadêlha, Hermes ; Palmer, Ryan A.
2025 IEEE 8th International Conference on Soft Robotics (RoboSoft). Institute of Electrical and Electronics Engineers (IEEE), 2025. (IEEE International Conference on Soft Robotics (RoboSoft)).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments

AU - Teo, Sze Jia

AU - Bloomfield-Gadêlha, Hermes

AU - Palmer, Ryan A

PY - 2025/6/4

Y1 - 2025/6/4

N2 - The elastohydrodynamics of microscopic filaments is of broad scientific and engineering interest since it underlies many biological processes. Whilst mathematical models and experimental studies are commonly used to inform the design of more effective and compliant bio-inspired soft robots, in the case of elastic, microscopic filaments, several difficulties arise due to the scale of these biological systems and the complexity of the fluid-elastic interactions that arise. Therefore, this paper presents a novel macroscopic robotic platform to experimentally and empirically analyse the elastohydrodynamics of microscopic filaments under various conditions by using dynamically-scaled, soft-rigid filaments. Further novelty arises in the platform’s capability to automatically collect and process kinematic and force data. The accuracy of this experimental setup is evaluated by comparing the kinematic results of the experimental filament with a representative elastohydrodymanic mathematical model of a microscopic filament. The experimental results from 135 trials demonstrate strong agreement with the theoretical framework and high reliability with low variance across trials and low mean error. Overall, the platform is a robust and efficient tool for studying microscopic filaments, with potential applications in optimising soft-microrobot propulsion.

AB - The elastohydrodynamics of microscopic filaments is of broad scientific and engineering interest since it underlies many biological processes. Whilst mathematical models and experimental studies are commonly used to inform the design of more effective and compliant bio-inspired soft robots, in the case of elastic, microscopic filaments, several difficulties arise due to the scale of these biological systems and the complexity of the fluid-elastic interactions that arise. Therefore, this paper presents a novel macroscopic robotic platform to experimentally and empirically analyse the elastohydrodynamics of microscopic filaments under various conditions by using dynamically-scaled, soft-rigid filaments. Further novelty arises in the platform’s capability to automatically collect and process kinematic and force data. The accuracy of this experimental setup is evaluated by comparing the kinematic results of the experimental filament with a representative elastohydrodymanic mathematical model of a microscopic filament. The experimental results from 135 trials demonstrate strong agreement with the theoretical framework and high reliability with low variance across trials and low mean error. Overall, the platform is a robust and efficient tool for studying microscopic filaments, with potential applications in optimising soft-microrobot propulsion.

KW - Soft Robotics

KW - Microrobotics

KW - Flagella

KW - Elastohydrodynamics of Filaments

UR - https://robosoft2025.org/

U2 - 10.1109/RoboSoft63089.2025.11020818

DO - 10.1109/RoboSoft63089.2025.11020818

M3 - Conference Contribution (Conference Proceeding)

SN - 9798331520212

T3 - IEEE International Conference on Soft Robotics (RoboSoft)

BT - 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 8th IEEE-RAS International Conference on Soft Robotics

Y2 - 23 April 2025 through 26 April 2025

ER -

Robotic Experimental Platform for Analysing Elastohydrodynamics of Soft-Rigid Filaments

Abstract

Publication series

Conference

Bibliographical note

Research Groups and Themes

Keywords

Access to Document

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