Mobile microrobotic manipulator in microfluidics

Hwang, Gilgueng; Ivan, Ioan Alexandru; Agnus, Joël; Salmon, Hugo; Alvo, Sébastien; Chaillet, Nicolas; Régnier, Stéphane; Haghiri‐Gosnet, A. M.

doi:10.1016/j.sna.2013.09.030

Cited by 21 publications

(12 citation statements)

References 13 publications

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“…This integration was demonstrated with milli- 5 , micro- 19 20 and nanometric robots 21 based on fluidic injection, manual integration or self-releasing technologies. The novelty of the proposed work is to present a selective self-integration of 3D helical swimmers inside microfluidic channels.…”

mentioning

confidence: 99%

On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

Barbot

Decanini

Hwang

2016

Sci Rep

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Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications.

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confidence: 99%

On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

Barbot

Decanini

Hwang

2016

Sci Rep

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“…Microswimmers opened new biomedical applications like microsurgery, drug delivery, hyperthermia, oxygen sensing or other precision tasks [1]. They can also be used as wireless in-vitro microfluidic manipulators for mechanical force sensing [2,3], rheological sensing [4] or as in-vitro fertilization systems [5,6]. Recent progress on the mobile micro devices showed their great potentials either to the solid sample transport [7] or to the liquid sample handling [8].…”

Section: Introductionmentioning

confidence: 99%

Miniaturized Soft Transformable Swimmer for Evironmentally Friendly and Sustainable Fluidic Carrier

Hwang

Kim

Toyokura

et al. 2021

2021 Symposium on Design, Test, Integration &Amp; Packaging of MEMS and MOEMS (DTIP)

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We developed a magnetically actuated soft transformable microswimmer for an environmentally friendly and sustainable fluidic handling. They are made of the composite mixture of magnetic micro particles and soft UV curable resin. The custom developed manufacturing system allows to program the local magnetizations of each fractional areas with UV light exposure for both the bending motion by magnetic field and the surface microstructuring to minimize surface stiction. The manufacturable device scale ranges from the smallest of 385×702 µm 2 to the largest 2.0×5.5 mm 2 . We demonstrated successful liquid sample handling between droplets or hydrogel substrates showing a great potential to serve as a fluidic carrier for biochemical sample analysis or drug delivery.

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“…Integration of a microfluidic chip and robotics based on micro-electromechanical (MEMS) systems technology is an innovation for biomedicine [16][17][18]. Accurate motion control, high propulsion power and the pumping mechanism of motion permit the microrobot to load multiple objects and transport them to desired locations in the microfluidic chip [19,20]. Microrobots present also opportunities for a wide range of environmental applications, such as environmental sensing, monitoring and remediation [21].…”

Section: Introductionmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom (DoF) to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots.

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Mobile microrobotic manipulator in microfluidics

Cited by 21 publications

References 13 publications

On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

Miniaturized Soft Transformable Swimmer for Evironmentally Friendly and Sustainable Fluidic Carrier

Magnetic Actuation Based Motion Control for Microrobots: An Overview

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