Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms

Islam S.M. Khalil; Mohamed Hafez; Anke Klingnert; Stefano Scheggi; Barbara Adel; Sarthak Misra

doi:10.1109/BIOROB.2018.8488084

Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms

Islam S.M. Khalil, Mohamed Hafez, Anke Klingnert, Stefano Scheggi, Barbara Adel, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

206 Downloads (Pure)

Abstract

In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ m t,

Original language	English
Title of host publication	BIOROB 2018
Subtitle of host publication	7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	384-389
Number of pages	6
ISBN (Electronic)	978-1-5386-8183-1
ISBN (Print)	978-1-5386-8184-8
DOIs	https://doi.org/10.1109/BIOROB.2018.8488084
Publication status	Published - 9 Oct 2018
Event	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018: High Tech Human Touch - University Campus, Enschede, Netherlands Duration: 26 Aug 2018 → 29 Aug 2018 Conference number: 7 https://www.biorob2018.org/ https://ctw-bw124.ctw.utwente.nl/roborehab/

Conference

Conference	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Abbreviated title	BioRob
Country/Territory	Netherlands
City	Enschede
Period	26/08/18 → 29/08/18
Other	Workshop 5 of BIOROB 2018
Internet address	https://www.biorob2018.org/ https://ctw-bw124.ctw.utwente.nl/roborehab/

Keywords

2019 OA procedure
Magnetosphere
Soft robotics
Magnetic heads
Propulsion
Sports
Strain

Access to Document

10.1109/BIOROB.2018.8488084

Khalil2018nearFinal published version, 4.77 MBLicence: Taverne

Cite this

@inproceedings{1488dd211bba405e81fe5d1715260d89,

title = "Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms",

abstract = "In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ m t,",

keywords = "2019 OA procedure, Magnetosphere, Soft robotics, Magnetic heads, Propulsion, Sports, Strain",

author = "Khalil, {Islam S.M.} and Mohamed Hafez and Anke Klingnert and Stefano Scheggi and Barbara Adel and Sarthak Misra",

year = "2018",

month = oct,

day = "9",

doi = "10.1109/BIOROB.2018.8488084",

language = "English",

isbn = "978-1-5386-8184-8",

pages = "384--389",

booktitle = "BIOROB 2018",

publisher = "IEEE",

address = "United States",

note = "7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 : High Tech Human Touch, BioRob ; Conference date: 26-08-2018 Through 29-08-2018",

url = "https://www.biorob2018.org/, https://ctw-bw124.ctw.utwente.nl/roborehab/",

}

Khalil, ISM, Hafez, M, Klingnert, A, Scheggi, S, Adel, B & Misra, S 2018, Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms. in BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics., 8488084, IEEE, Piscataway, NJ, pp. 384-389, 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, Enschede, Netherlands, 26/08/18. https://doi.org/10.1109/BIOROB.2018.8488084

Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms. / Khalil, Islam S.M.; Hafez, Mohamed; Klingnert, Anke et al.
BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE, 2018. p. 384-389 8488084.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms

AU - Khalil, Islam S.M.

AU - Hafez, Mohamed

AU - Klingnert, Anke

AU - Scheggi, Stefano

AU - Adel, Barbara

AU - Misra, Sarthak

N1 - Conference code: 7

PY - 2018/10/9

Y1 - 2018/10/9

N2 - In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ m t,

AB - In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ m t,

KW - 2019 OA procedure

KW - Magnetosphere

KW - Soft robotics

KW - Magnetic heads

KW - Propulsion

KW - Sports

KW - Strain

UR - http://www.scopus.com/inward/record.url?scp=85056587875&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2018.8488084

DO - 10.1109/BIOROB.2018.8488084

M3 - Conference contribution

AN - SCOPUS:85056587875

SN - 978-1-5386-8184-8

SP - 384

EP - 389

BT - BIOROB 2018

PB - IEEE

CY - Piscataway, NJ

T2 - 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018

Y2 - 26 August 2018 through 29 August 2018

ER -

Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this