Untethered Octopus‐Inspired Millirobot Actuated by Regular Tetrahedron Arranged Magnetic Field

Dai, Ye; Liang, Shuquan; Chen, Yuanyuan; Yang, Feng; Chen, Dixiao; Song, Bowen; Bai, Xue; Zhang, Deyuan; Feng, Lin; Arai, Fumihito

doi:10.1002/aisy.201900148

Cited by 28 publications

(13 citation statements)

References 54 publications

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“…As shown in Figure 4c, when the permanent magnet was moving in the x – y plane 20 mm under the robot, the micro‐nodes of the robot aligned with the magnetic flux direction. [ 27 ] As the magnet moved forward, the tip of a single micro‐node rose up to align with the magnetic flux due to the magnetic torque and lifted up the robot's body. Meanwhile, the magnetic force exerted on the robot dragged the body movement forward.…”

Section: Resultsmentioning

confidence: 99%

Transparent Magnetic Soft Millirobot Actuated by Micro‐Node Array

Zhang

Shen

2021

Adv Materials Technologies

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Magnetic soft millirobots have attracted emerging interest in many fields owing to their superiorities in effective and remote controllable actuation by a magnetic field. However, limited to the embedded magnetic particles, magnetic soft robots usually exhibit dark to black colors, leading to the sheltering of the environment and target during locomotion, manipulation, and transportation. Here, a method of constructing a transparent magnetic millirobot with an actuatable micro‐node array is presented. Owing to the micro‐node design and high‐transparency body materials, the robot can achieve a high transmittance of ≈80%. The robot possesses remote‐controllable locomotion and obstacle‐crossing capabilities, such as crawling through a limited area (height: 600 µm) and crossing over an obstacle (height: 1 mm) that is about five times higher than itself. Moreover, the robot demonstrates optical transparent property against the changing environment, such as chessboard and rainbow‐colored backgrounds. Lastly, the locomotion and camouflage capability of the robot are demonstrated on sand, where the robot moves 23 mm in 59 s on the irregular sandy surface. This design strategy can be broadened to a wide range of fields, including but not limited to robots for battlefield, biomedical treatment, and environmental reconnaissance, and will benefit the development of the next generation of smart robots.

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Section: Resultsmentioning

confidence: 99%

Transparent Magnetic Soft Millirobot Actuated by Micro‐Node Array

Zhang

Shen

2021

Adv Materials Technologies

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“…For the sustained propelling force, the MMP was designed to consist of four coils, the minimum number of coils required for 3D force control that can provide a large magnetic force and observation space. [26,53] By controlling the embedded FeNPs, the MMP can manipulate MCRs to target tumor cells effectively. With this system, the positioning accuracy and speed of the MCRs were 5 µm, and up to 200 µm s −1 , respectively (Figure 3).…”

Section: Discussionmentioning

confidence: 99%

Precise Control of Customized Macrophage Cell Robot for Targeted Therapy of Solid Tumors with Minimal Invasion

Dai

Bai

Jia

et al. 2021

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stimuli generate driving forces from the interaction between the micro/nanorobots and aspects of the treatment microenvironment, such as pH, enzymes, and redox potential. [4][5][6][7][8][9] However, the controllability of endogenous power-driven cell robots is limited, considering tumor heterogeneity. In addition, the cell robots may lose driving force when local lesions are cured. In contrast, driving forces generated from externally-applied fields are controllable, and can be output continuously. Micro/ nanorobots for biomedical applications, driven by optical, [9][10][11][12][13] acoustic, [14][15][16][17][18] or magnetic fields, [19][20][21][22][23] have been reported. In particular, micro/nanorobots controlled by magnetic fields have been studied extensively, because magnetic fields can penetrate tissues without attenuation of energy. [23][24][25][26] In general, magneticallycontrolled micro/nanorobot systems can be divided into two components: the magnetic manipulation platform (MMP), and the magnetized micro/nanorobot (MMR). The MMP relies primarily on the characteristics of superimposed magnetic fields, generated by different coils, that can be oriented in any desired direction. [27,28] To be biocompatible, cell membranes, [29] cell derived vesicles, [30] or natural cells [31,32] can be used to camouflage MMRs. [33] Magnetized cell-based robots (MCRs) are particularly effective in targeted treatment of tumors, owing to their homology with the patient, which not only gives the cell carrier excellent biocompatibility, but also takes advantage of the cells' specialized functions. [34,35] MCR fabrication is typically manifested as adhesion of magnetic materials to the cell membrane, or entry of magnetic materials to the cell by means, such as electrostatic adsorption or endocytosis. Examples of the latter strategy include the loading of red blood cells, [36][37][38] macrophages, [32,39] and stem cells [40,41] with iron oxide nanoparticles (NPs) containing drugs, for effective targeting of lesion locations under magnetic drive. However, with this strategy, drug loading is limited, to avoid influencing the activity of cells. An alternative strategy is to wrap the drugs in a membrane, and release them when the cell robots reach the lesion location. For example, liposome or polymer NPs can be loaded into live macrophages thanks to their natural phagocytic function, and the load-drugs can subsequently be released under endogenous or exogenous Injecting micro/nanorobots into the body to kill tumors is one of the ultimate ambitions for medical nanotechnology. However, injecting current micro/ nanorobots based on 3D-printed biocompatible materials directly into blood vessels for targeted therapy is often difficult, and mistakes in targeting can cause serious side effects, such as blood clots, oxidative stress, or inflammation. The natural affinity of macrophages to tumors, and their natural phagocytosis and ability to invade tumors, make them outstanding drug delivery vehicles for targeted tumor therapy. Hence, a mag...

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“…[147] It is also possible for miniature soft robots to use reciprocal, pulsatile gaits to propel themselves in Newtonian fluids. [13,19,154] Pulsatile gaits allow the robots to generate net propulsion via periodically ingesting and discharging fluids to produce impulsive thrusts. [138] A series of magnetic jellyfish-like robots, which are in the millimeter scale, have been created to adopt such swimming gaits.…”

Section: Key Advancesmentioning

confidence: 99%

“…[138] A series of magnetic jellyfish-like robots, which are in the millimeter scale, have been created to adopt such swimming gaits. [13,19,154] By using the pulsatile gaits, these robots are able to achieve high velocities in water (2.7 to 18.1 body lengths per second), which substantially increase their Reynolds number (39 to 421) such that they can harness sufficient inertial effects to propel themselves. [19] An advantage of these jellyfish-like robots is that they can be highly dexterous when they are swimming on the air-water interface and within the fluid bulk.…”

Section: Key Advancesmentioning

confidence: 99%

Locomotion of Miniature Soft Robots

Tan

et al. 2020

Advanced Materials

121

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as prospective aerial vehicles that can significantly enhance the efficiency of search-and-rescue missions, [16][17][18] perform dangerous operations in hazardous environments, [18] and function as miniature nodes in sensor networks. [18] Because miniature robots are expected to operate in various types of environments, it is essential for them to possess effective locomotive gaits to navigate well in such terrains. [19,20] This will be especially true if the robots have to negotiate across highly unstructured environments such as within the human body or at disaster sites. [5,10,21,22] Of the miniature robots, the soft robots are significantly more promising than their rigid counterparts in developing dexterous gaits because their degrees of freedom and adaptability are considerably higher. [23][24][25] By having the ability to generate a series of time-varying shapes, miniature soft robots have shown to be able to perform various types of locomotion, which allow them to negotiate across complicated obstacles in their environments. [19,26] In addition to using such locomotion for navigation purposes, these gaits could also be beneficial for studying the locomotion of various small organisms. [4,13] In this report, we review the locomotion producible by miniature soft robots. The scope of this report is therefore different from reviews and commentaries that focus on the actuation, [3] applications, [2,21] or design [27] of miniature soft robots. It is also significantly different from reviews that focus on the applications of miniature robots, [1,10,11] and others that review the general principles [24,[28][29][30][31][32][33][34][35] or locomotion [34,36,37] of macro-scale soft robots. To facilitate our discussion, here we categorize the locomotion of the miniature soft robots into terrestrial, aquatic, and aerial locomotion (Figure 1). Under each category, we will highlight their key advancements, as well as their open challenges and future outlook. Except for the aerial robots that are in the centimeter-scale, our discussions will focus on soft robots that are in the micro/millimeter length scales. It is noteworthy that the discussions in this report will be restricted to synthetic materials. For miniature bio-robots based on natural materials, interested readers may refer to other reviews on biomolecular, biohybrid actuation, or microorganism-driven systems. [38][39][40][41][42][43] The report is organized as follows: Section 2 provides a brief discussion about the general actuation principles of miniature soft robots. This is followed by Sections 3-5 in which we discuss the advancements of miniature soft robots in their Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro-to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits a...

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Untethered Octopus‐Inspired Millirobot Actuated by Regular Tetrahedron Arranged Magnetic Field

Cited by 28 publications

References 54 publications

Transparent Magnetic Soft Millirobot Actuated by Micro‐Node Array

Transparent Magnetic Soft Millirobot Actuated by Micro‐Node Array

Precise Control of Customized Macrophage Cell Robot for Targeted Therapy of Solid Tumors with Minimal Invasion

Locomotion of Miniature Soft Robots

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