Fabrication and manipulation of ciliary microrobots with non-reciprocal magnetic actuation

Open access
Date
2016-07-29Type
- Journal Article
Citations
Cited 42 times in
Web of Science
Cited 52 times in
Scopus
ETH Bibliography
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Abstract
Magnetically actuated ciliary microrobots were designed, fabricated, and manipulated to mimic cilia-based microorganisms such as paramecia. Full three-dimensional (3D) microrobot structures were fabricated using 3D laser lithography to form a polymer base structure. A nickel/titanium bilayer was sputtered onto the cilia part of the microrobot to ensure magnetic actuation and biocompatibility. The microrobots were manipulated by an electromagnetic coil system, which generated a stepping magnetic field to actuate the cilia with non-reciprocal motion. The cilia beating motion produced a net propulsive force, resulting in movement of the microrobot. The magnetic forces on individual cilia were calculated with various input parameters including magnetic field strength, cilium length, applied field angle, actual cilium angle, etc., and the translational velocity was measured experimentally. The position and orientation of the ciliary microrobots were precisely controlled, and targeted particle transportation was demonstrated experimentally. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000119305Publication status
publishedJournal / series
Scientific ReportsVolume
Pages / Article No.
Publisher
Nature Publishing GroupSubject
Electrical and electronic engineering; Mechanical engineeringMore
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Citations
Cited 42 times in
Web of Science
Cited 52 times in
Scopus
ETH Bibliography
yes
Altmetrics