Collecting particles with active filaments; from worms to robotic chains

The potential of compliant and adaptable active matter for particle transport presents a promising avenue for the development of efficient, autonomous systems. However, achieving optimal task efficiency often depends on external control mechanisms, which can limit the autonomy of such systems. In this study, we draw inspiration from Tubifex tubifex and Lumbriculus variegatus, centimeter-sized worms that exhibit an extraordinary ability to aggregate dispersed particles within confined environments. By observing their natural behaviors, we identify a simple yet effective particle collection strategy driven by flexibility and activity. Using these biological insights, we develop larger-scale robotic systems and simulations that replicate the particle aggregation dynamics of living worms. Our experiments reveal that flexibility governs the efficiency of particle clustering, and this principle applies universally across biological, robotic, and simulated filaments. These findings pave the way for designing adaptable, soft robotic systems capable of autonomously performing tasks in complex and constrained environments, offering a practical blueprint for next-generation active materials.