Soft robotic manipulators are generally slow despite their great adaptability, resilience, and compliance. This limitation also extends to current soft robotic micromanipulators. Here, we introduce FilMBot, a 3-DOF film-based, electromagnetically actuated, soft kinematic robotic micromanipulator achieving speeds up to 2117 $\deg$/s and 2456 $\deg$/s in $\alpha$ and $\beta$ angular motions, with corresponding linear velocities of 1.61 m/s and 1.92 m/s using a 4-cm needle end-effector, and 1.57 m/s along the Z axis. The robot can reach ~1.50 m/s in path-following tasks, operates at frequencies up to 30 Hz, and remains functional up to 50 Hz. It demonstrates high precision (~6.3 $\mu$m, or ~0.05% of its workspace) in small path-following tasks. The novel combination of the low-stiffness soft kinematic film structure and strong electromagnetic actuation in FilMBot opens new avenues for soft robotics. Furthermore, its simple construction and inexpensive, readily accessible components could broaden the application of micromanipulators beyond current academic and professional users.

翻译：软体机器人操作器尽管具有出色的适应性、恢复能力和柔顺性，但通常速度较慢。这一局限性也延伸至当前的软体机器人微操作器。本文介绍FilMBot，一种基于薄膜的三自由度、电磁驱动软体运动学机器人微操作器，其α和β角运动速度分别高达2117 $\deg$/s和2456 $\deg$/s，使用4厘米针状末端执行器时对应的线速度分别为1.61 m/s和1.92 m/s，沿Z轴方向速度为1.57 m/s。该机器人在路径跟踪任务中可达约1.50 m/s，工作频率高达30 Hz，并在50 Hz频率下仍保持功能正常。在小尺度路径跟踪任务中展现出高精度（约6.3 $\mu$m，约占其工作空间的0.05%）。FilMBot将低刚度软体运动学薄膜结构与强电磁驱动创新结合，为软体机器人学开辟了新途径。此外，其简单的结构和廉价易得的组件，有望将微操作器的应用扩展到当前学术和专业用户之外的更广泛领域。