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arXiv · 2603.09473

Receptogenesis in a Vascularized Robotic Embodiment

Kadri-Ann Pankratov·Leonid Zinatullin·Hans Priks·Adele Metsniit·Urmas Johanson·Tarmo Tamm·Alvo Aabloo·Edoardo Sinibaldi·Indrek Must
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Abstract

Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends physical adaptability. Unlike modular systems that rely on discrete component integration pre- or post-deployment, we envision physical adaptation through continuous in-body development via hardware synthesis. Drawing inspiration from circulatory systems that redistribute mass and function in biological organisms, we utilize fluidics to restructure the material interface, a capability currently unmatched in robotics. Here, we realize this proof-of-concept hardware generation through a vascularized robotic composite designed for programmable material synthesis, demonstrated via receptogenesis - the on-demand construction of sensors. By coordinating the fluidic transport of precursors with external localized UV irradiation, we drove an $\textit{in situ}$ photopolymerization that chemically reconstructed the vasculature from the inside out. This reaction converted precursors with photolatent initiator into a solid dispersion of UV-sensitive polypyrrole in PETG, establishing a sensing modality validated by a characteristic decrease in electrical impedance. The newly synthesized sensor closed a local control loop in real time to regulate wing flapping in a moth-inspired robotic demonstrator. Our work is a proof-of-concept materials basis for $\textit{ex novo}$ hardware generation in a vascularized composite - a step towards situated robots adapting to environmental cues.

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Kadri-Ann Pankratov, Leonid Zinatullin, Hans Priks, Adele Metsniit, Urmas Johanson, Tarmo Tamm, Alvo Aabloo, Edoardo Sinibaldi, Indrek Must. 2026-03-10. Receptogenesis in a Vascularized Robotic Embodiment. https://doi.org/10.1002/advs.76999

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