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 proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)
    15 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 languageEnglish
    Title of host publicationBIOROB 2018
    Subtitle of host publication7th IEEE International Conference on Biomedical Robotics and Biomechatronics
    Place of PublicationPiscataway, NJ
    PublisherIEEE Computer Society
    Pages384-389
    Number of pages6
    ISBN (Electronic)978-1-5386-8183-1
    ISBN (Print)978-1-5386-8184-8
    DOIs
    Publication statusPublished - 9 Oct 2018
    Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    : High Tech Human Touch
    - University Campus, Enschede, Netherlands
    Duration: 26 Aug 201829 Aug 2018
    Conference number: 7
    https://www.biorob2018.org/

    Conference

    Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    Abbreviated titleBioRob
    CountryNetherlands
    CityEnschede
    Period26/08/1829/08/18
    Internet address

    Fingerprint

    Propulsion
    Robotics
    Electrospinning
    Fluidics
    Trajectories
    Swimming

    Keywords

    • Strain
    • Magnetosphere
    • Soft robotics
    • Magnetic heads
    • Propulsion
    • Sports

    Cite this

    Khalil, I. S. M., 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 (pp. 384-389). [8488084] Piscataway, NJ: IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8488084
    Khalil, Islam S.M. ; Hafez, Mohamed ; Klingnert, Anke ; Scheggi, Stefano ; Adel, Barbara ; Misra, Sarthak. / Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms. BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ : IEEE Computer Society, 2018. pp. 384-389
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    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,",
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    author = "Khalil, {Islam S.M.} and Mohamed Hafez and Anke Klingnert and Stefano Scheggi and Barbara Adel and Sarthak Misra",
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    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 Computer Society, 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; Scheggi, Stefano; Adel, Barbara; Misra, Sarthak.

    BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ : IEEE Computer Society, 2018. p. 384-389 8488084.

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

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    AU - Khalil, Islam S.M.

    AU - Hafez, Mohamed

    AU - Klingnert, Anke

    AU - Scheggi, Stefano

    AU - Adel, Barbara

    AU - Misra, Sarthak

    PY - 2018/10/9

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    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,

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    KW - Magnetosphere

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    Khalil ISM, Hafez M, Klingnert A, Scheggi S, Adel B, Misra S. Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms. In BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE Computer Society. 2018. p. 384-389. 8488084 https://doi.org/10.1109/BIOROB.2018.8488084