A thin robot made of flexible electronics for in-situ machining and inspection of large structures.

Huacen Wang, Yujin Dai, Ting Wang, Wuheng Wang, Liwei Shi, Zeju Zheng, Jiarui Zou, Hongqiang Wang

Abstract read

In one paragraph

Article in Nature communications, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

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0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

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PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors.

Huacen WangShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.

Yujin DaiShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.

Ting WangShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.ORCID http://orcid.org/0000-0003-3587-7016

Wuheng WangShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.

Liwei ShiShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.ORCID http://orcid.org/0009-0006-1532-9759

Zeju ZhengShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.

Jiarui ZouShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.

Hongqiang WangShenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China. wanghq6@sustech.edu.cn.ORCID http://orcid.org/0000-0002-7286-7514

Funding

National Natural Science Foundation of China (National Science Foundation of China) 52275021 and 52450323Natural Science Foundation of Guangdong Province (Guangdong Natural Science Foundation) 2024A1515010183

6 · The paper itself

Abstract

In-situ machining and inspection of large structures drive demand, but conventional robots are typically heavy and bulky, potentially damaging fragile materials and limiting effectiveness in confined spaces or on complex surfaces. Here, we present a thin (970 µm), lightweight (19.7 g), and flexible robot powered by a two-degree-of-freedom electrostatic actuator made of flexible circuits. The actuator enables motion with 21.7 µm repeatability, a maximum speed of 290 mm/s, and a superposable output force up to 1.07 N. The robot follows arbitrary trajectories and operates reliably on diverse surfaces, including flat, curved, and vertical substrates, through electrostatic adhesive feet. It carries payloads up to 4.06 times its own weight and tolerates impact from a 3 kg weight. We demonstrate multifunctional in-situ operation through narrow-gap inspection, curved-surface grinding, and microscale electrical discharge machining. This establishes a thin, flexible platform for in-situ tasks in constrained and sensitive environments.

Identifiers

PMID42337242

DOI10.1038/s41467-026-74548-1

PMCPMC13443605

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LicenceCC BY-NC-ND

Read underepoch 390

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.