Biped walking of magnetic microrobot in oscillating field for indirect manipulation of non-magnetic objects

Jianing Li; Huaping Wang; Qing Shi; Zhiqiang Zheng; Juan Cui; Tao Sun; Pietro Ferraro; Qiang Huang; Toshio Fukuda

doi:10.1109/TNANO.2019.2954312

Biped walking of magnetic microrobot in oscillating field for indirect manipulation of non-magnetic objects

Jianing Li, Huaping Wang^*, Qing Shi, Zhiqiang Zheng, Juan Cui, Tao Sun, Pietro Ferraro, Qiang Huang, Toshio Fukuda

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

19 Citations (Scopus)

Abstract

Magnetic microrobots have been developed for various biomedical applications, such as microswimmers for indirect manipulation and assembly of objects. When non-magnetic targets fall or adhere to the substrate by gravity, the indirect manipulation is required to move objects on substrate surface. Inspired by human walking, a novel magnetic microrobot with two pseudopods was designed. Driven by a periodic magnetic field, the structure can subtly lift and move two feet alternately to walk forward. The amplitude and frequency of oscillation were optimized and the controllability of the system was evaluated through performing the motion along planned paths with a velocity of 3.5 mm/s. Finally, microbeads and cell aggregates were pushed and arranged together by the microrobot, which shows potential application in flexible microassembly on substrate surface.

Original language	English
Article number	8911351
Pages (from-to)	21-24
Number of pages	4
Journal	IEEE Transactions on Nanotechnology
Volume	19
DOIs	https://doi.org/10.1109/TNANO.2019.2954312
Publication status	Published - 2020

Keywords

Magnetic microrobot
indirect assembly
magnetic walking

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10.1109/TNANO.2019.2954312

Cite this

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title = "Biped walking of magnetic microrobot in oscillating field for indirect manipulation of non-magnetic objects",

abstract = "Magnetic microrobots have been developed for various biomedical applications, such as microswimmers for indirect manipulation and assembly of objects. When non-magnetic targets fall or adhere to the substrate by gravity, the indirect manipulation is required to move objects on substrate surface. Inspired by human walking, a novel magnetic microrobot with two pseudopods was designed. Driven by a periodic magnetic field, the structure can subtly lift and move two feet alternately to walk forward. The amplitude and frequency of oscillation were optimized and the controllability of the system was evaluated through performing the motion along planned paths with a velocity of 3.5 mm/s. Finally, microbeads and cell aggregates were pushed and arranged together by the microrobot, which shows potential application in flexible microassembly on substrate surface.",

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AU - Li, Jianing

AU - Wang, Huaping

AU - Shi, Qing

AU - Zheng, Zhiqiang

AU - Cui, Juan

AU - Sun, Tao

AU - Ferraro, Pietro

AU - Huang, Qiang

AU - Fukuda, Toshio

PY - 2020

Y1 - 2020

N2 - Magnetic microrobots have been developed for various biomedical applications, such as microswimmers for indirect manipulation and assembly of objects. When non-magnetic targets fall or adhere to the substrate by gravity, the indirect manipulation is required to move objects on substrate surface. Inspired by human walking, a novel magnetic microrobot with two pseudopods was designed. Driven by a periodic magnetic field, the structure can subtly lift and move two feet alternately to walk forward. The amplitude and frequency of oscillation were optimized and the controllability of the system was evaluated through performing the motion along planned paths with a velocity of 3.5 mm/s. Finally, microbeads and cell aggregates were pushed and arranged together by the microrobot, which shows potential application in flexible microassembly on substrate surface.

AB - Magnetic microrobots have been developed for various biomedical applications, such as microswimmers for indirect manipulation and assembly of objects. When non-magnetic targets fall or adhere to the substrate by gravity, the indirect manipulation is required to move objects on substrate surface. Inspired by human walking, a novel magnetic microrobot with two pseudopods was designed. Driven by a periodic magnetic field, the structure can subtly lift and move two feet alternately to walk forward. The amplitude and frequency of oscillation were optimized and the controllability of the system was evaluated through performing the motion along planned paths with a velocity of 3.5 mm/s. Finally, microbeads and cell aggregates were pushed and arranged together by the microrobot, which shows potential application in flexible microassembly on substrate surface.

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Biped walking of magnetic microrobot in oscillating field for indirect manipulation of non-magnetic objects

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Keywords

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