Magnetic-based motion control of sperm-shaped microrobots using weak oscillating magnetic fields

Islam S.M. Khalil*, Kareem Youakim, Alonso Sánchez, Sarthak Misra

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    25 Citations (Scopus)
    10 Downloads (Pure)

    Abstract

    We experimentally demonstrate that using oscillating weak magnetic fields a sperm-shaped microrobot (which we refer to as MagnetoSperm) can swim using flagellar propulsion and slide on a surface under water. The sperm morphology allows the MagnetoSperm to mimic the locomotion mechanism of a living sperm cell. The MagnetoSperm is designed and developed with a magnetic head and a flexible tail to provide a magnetic dipole moment and propulsion, respectively. The head oscillates under the influence of controlled oscillating weak magnetic fields (∼5 mT). This oscillation generates a thrust force in the flexible tail, and hence allows the MagnetoSperm to overcome the drag and friction forces during swimming and sliding on a surface, respectively. Point-to-point open- and closed-loop control of the MagnetoSperm are accomplished using an electromagnetic system under microscopic guidance. This motion control is done in two cases, i.e., swimming in water and sliding on a surface. At oscillating magnetic field of 5 Hz and 45 Hz, the MagnetoSperm swims at an average swimming speed of 32 μm/s (0.1 body lengths per second) and 158 μm/s (0.5 body lengths per second), respectively. At the same frequencies, the MagnetoSperm slides on the bottom of a petri-dish at an average speed of 21 μm/s (0.07 body lengths per second) and 6 μm/s (0.02 body lengths per second), respectively.

    Original languageEnglish
    Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages4686-4691
    Number of pages6
    ISBN (Electronic)978-1-4799-6934-0, 978-1-4799-6931-9 (DVD)
    DOIs
    Publication statusPublished - 31 Oct 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: 14 Sept 201418 Sept 2014
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Volume2014
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    Abbreviated titleIROS
    Country/TerritoryUnited States
    CityChicago
    Period14/09/1418/09/14
    Internet address

    Keywords

    • n/a OA procedure

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