Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Round 1

Reviewer 1 Report

Comments for author File: Comments.pdf

Author Response

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Reviewer 2 Report

The Authors of this manuscript present a novel concept for soft-robot locomotion that imitates the motion of bacterial flagella using a leg-wheel mechanism. The tool is driven by tendons and can move seamlessly in both wheeled and legged modes. However, to further improve the manuscript, this Reviewer suggests addressing the following questions and topics through revision.

1) In the manuscript, the authors explain how their findings can enhance the use of current soft-robot technologies. Can you please suggest and elaborate on a few scenarios where the leg-wheel robot could be advantageous?

2) Please comment on the potential of such technology towards miniaturized systems (e.g. micro- and nanorobots). Is it possible to transfer the BFWLbot concepts from the macro to the microscale? 

3) Is the bacterial flagellum a nanomachine or a micro-machine? Considering its physical dimensions, should it be classified as a "micro-" machine?

4) What changes need to be made to turn the suggested leg-wheel robot into an autonomous system?

5) This Reviewer is wondering if it would be feasible to incorporate battery units or a similar power source into BFWLbot without hindering its leg-wheel movements. Please take into account the added weight from the integrated power supply when answering this query.

6) The upside-down essay is a promising characteristic that demonstrates the high adaptability of the system. Regarding adaptability, is it possible for BFWLbot to function with only three legs? What limitations would arise if the robot were to lose one of its legs during operation?

7) Please revise the manuscript to avoid typos and repeated text (e.g. page 1, lines 41-42).

8) As a small suggestion, consider referring to Figure 1a right after mentioning the bacterial flagellum in the introduction (page 2, lines 63-65). Also, Figure 1b could be called in the last paragraph of the introduction (page 2, lines 70-80).

A minor editing of the English is required.

Author Response

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Reviewer 3 Report

The authors proposed the following manuscript: "Design and Motion Analysis of a Soft Limb Robot Inspired by Bacterial Flagella".

The manuscript is very well written and documented. The idea behind the manuscript is very interesting, the methods are well described and the simulations are quite eloquent for robot construction.

The authors have ingeniously devised a leg-wheel mechanism inspired by bacterial flagella to enhance mobility of soft-legged robots on flat ground. The mechanism uses a tendon-driven continuum structure to mimic the bacterial flagellar filament and hook, and uses servomechanisms to mimic the bacterial flagellar motor. 

I congratulate the authors and encourage them to improve the prototype made at this stage.

 

Author Response

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Author Response File: Author Response.docx

Round 2

Reviewer 2 Report

The authors provided accurate responses to all points raised and the manuscript was revised accordingly. My recommendation is accepted as it is.

Minor editing of the English to avoid typos.

Author Response

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Author Response File: Author Response.docx