Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils

Buoyant magnetic milliswimmers reveal design rules for optimizing microswimmer performance

“…We can write the force exerted by the magnetic field gradient as the dot product of the milliswimmer's magnetization and the gradient of the externally applied magnetic field, F ∇ B = V M · ∇ B (where V is the volume of the magnet, M is its magnetization and ∇ B is the magnetic field gradient). We introduced the model for a single Helmholtz coil in a previous work 30 and extended it to apply to two pairs of Helmholtz coils here. 31 The full derivation is presented in the ESI †…”