Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination

Dong, Xinmin; Lum, Guo Zhan; Hu, Wenqi; Zhang, Rongjing; Ren, Ziyu; Onck, Patrick; Sitti, Metin

doi:10.1126/sciadv.abc9323

Cited by 129 publications

(207 citation statements)

References 58 publications

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“… 19 , 27 − 30 The latter is beneficial due to its much simpler actuation method. The fabrication approaches presented in previous papers, however, are either time-consuming because complex assembly steps are needed 28 , 29 or they are based on expensive raw materials, costly processes, or complex actuation devices. 19 , 27 , 28 , 30 Moreover, the relatively large size of the reported metachronal cilia, typically several millimeters or larger, 19 , 28 − 30 render them difficult to be integrated in common microfluidic devices.…”

Section: Introductionmentioning

confidence: 99%

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Metachronal μ-Cilia for On-Chip Integrated Pumps and Climbing Robots

Zhang

Cui

Wang

et al. 2021

ACS Appl. Mater. Interfaces

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Biological cilia often perform metachronal motion, that is, neighboring cilia move out of phase creating a travelling wave, which enables highly efficient fluid pumping and body locomotion. Current methods for creating metachronal artificial cilia suffer from the complex design and sophisticated actuation schemes. This paper demonstrates a simple method to realize metachronal microscopic magnetic artificial cilia (μMAC) through control over the paramagnetic particle distribution within the μMAC based on their tendency to align with an applied magnetic field. Actuated by a 2D rotating uniform magnetic field, the metachronal μMAC enable strong microfluidic pumping and soft robot locomotion. The metachronal μMAC induce twice the pumping efficiency and 3 times the locomotion speed of synchronously moving μMAC. The ciliated soft robots show an unprecedented slope climbing ability (0 to 180°), and they display strong cargo-carrying capacity (>10 times their own weight) in both dry and wet conditions. These findings advance the design of on-chip integrated pumps and versatile soft robots, among others.

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Section: Introductionmentioning

confidence: 99%

“…Two of these previous publications demonstrated fluid flow induced by the metachronal artificial cilia. 19 , 28 …”

Section: Introductionmentioning

confidence: 99%

Metachronal μ-Cilia for On-Chip Integrated Pumps and Climbing Robots

Zhang

Cui

Wang

et al. 2021

ACS Appl. Mater. Interfaces

View full text Add to dashboard Cite

show abstract

“…The efficiency of the ciliated fluid transport has motivated scientists to mimic this strategy, primarily to replicate the biological functionality. [ 30 , 31 , 32 , 33 , 34 , 35 ] Additionally, biomimetic cilia can be driven by external fields with relative ease. [ 30 , 31 , 32 , 36 , 37 ] A recent demonstration thereof includes solid cargo transport employing electric fields in a liquid environment (silicone oil).…”

Section: Introductionmentioning

confidence: 99%

Amphibious Transport of Fluids and Solids by Soft Magnetic Carpets

et al. 2021

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One of the major challenges in modern robotics is controlling micromanipulation by active and adaptive materials. In the respiratory system, such actuation enables pathogen clearance by means of motile cilia. While various types of artificial cilia have been engineered recently, they often involve complex manufacturing protocols and focus on transporting liquids only. Here, soft magnetic carpets are created via an easy self‐assembly route based on the Rosensweig instability. These carpets can transport not only liquids but also solid objects that are larger and heavier than the artificial cilia, using a crowd‐surfing effect.This amphibious transportation is locally and reconfigurably tunable by simple micromagnets or advanced programmable magnetic fields with a high degree of spatial resolution. Two surprising cargo reversal effects are identified and modeled due to collective ciliary motion and nontrivial elastohydrodynamics. While the active carpets are generally applicable to integrated control systems for transport, mixing, and sorting, these effects can also be exploited for microfluidic viscosimetry and elastometry.

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“…[ 1 ] Due to this ability, miniature robots have the potential to create a paradigm shift for medical treatments like minimally invasive surgery and targeted drug delivery. [ 2–8 ] In addition to such applications, these robots have also proven to be very useful in facilitating a broad range of fundamental studies for materials science [ 9–11 ] and biology, [ 12–19 ] as well as enabling numerous types of unprecedented lab‐on‐chip applications. [ 20–23 ]…”

Section: Introductionmentioning

confidence: 99%

Small‐Scale Magnetic Actuators with Optimal Six Degrees‐of‐Freedom

Yang

Lum

2021

Advanced Materials

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Magnetic miniature robots (MMRs) are small‐scale, untethered actuators which can be controlled by magnetic fields. As these actuators can non‐invasively access highly confined and enclosed spaces; they have great potential to revolutionize numerous applications in robotics, materials science, and biomedicine. While the creation of MMRs with six‐degrees‐of‐freedom (six‐DOF) represents a major advancement for this class of actuators, these robots are not widely adopted due to two critical limitations: i) under precise orientation control, these MMRs have slow sixth‐DOF angular velocities (4 degree s−1) and it is difficult to apply desired magnetic forces on them; ii) such MMRs cannot perform soft‐bodied functionalities. Here a fabrication method that can magnetize optimal MMRs to produce 51–297‐fold larger sixth‐DOF torque than existing small‐scale, magnetic actuators is introduced. A universal actuation method that is applicable for rigid and soft MMRs with six‐DOF is also proposed. Under precise orientation control, the optimal MMRs can execute full six‐DOF motions reliably and achieve sixth‐DOF angular velocities of 173 degree s−1. The soft MMRs can display unprecedented functionalities; the six‐DOF jellyfish‐like robot can swim across barriers impassable by existing similar devices and the six‐DOF gripper is 20‐folds quicker than its five‐DOF predecessor in completing a complicated, small‐scale assembly.

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Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination

Cited by 129 publications

References 58 publications

Metachronal μ-Cilia for On-Chip Integrated Pumps and Climbing Robots

Metachronal μ-Cilia for On-Chip Integrated Pumps and Climbing Robots

Amphibious Transport of Fluids and Solids by Soft Magnetic Carpets

Small‐Scale Magnetic Actuators with Optimal Six Degrees‐of‐Freedom

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