Realization of a Soft Microrobot with Multiple Flexible Flagella

Youssef Hamed, Mohamed Tawakol, Loaa El Zahar, Anke Klingner, Slim Abdennadher, Islam S.M. Khalil

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

5 Citations (Scopus)

Abstract

This work presents an approach to realize soft microrobots with multiple flexible flagella using beaded-fibers driven via a periodic magnetic field. Paramagnetic iron oxide particles are embedded into the polymer matrix of electrospun beaded-fibers and form magnetism upon applying an external magnetic field. We demonstrate that the induced magnetization by an external magnetic field enables self-assembly of multiple adjacent beaded-fibers to form a microrobot with multiple flexible flagella. Frequency response of the assembled microrobot and the individual beaded-fibers is characterized experimentally, and shows that the propulsive force imparted to the fluid by the multiple flexible flagella increases the actuation frequency range of the microrobot and enhances its swimming speed. At relatively high actuation frequency (20 Hz), the average speed of the individual beaded-fiber is 0.11 body-Iength-per-second, whereas the microrobot with multiple flagella swims at an average speed of 0.30 body-Iength-per-second. We also observe a slight difference in the swimming speed between the microrobot with multiple flexible flagella and its constituent beaded-fibers at relatively low actuation frequencies.

Original languageEnglish
Title of host publication2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages61-66
Number of pages6
ISBN (Electronic)978-1-5386-8183-1, 978-1-5386-8182-4 (USB)
ISBN (Print)978-1-5386-8184-8
DOIs
Publication statusPublished - 9 Oct 2018
Externally publishedYes
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/
https://ctw-bw124.ctw.utwente.nl/roborehab/

Publication series

NameIEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
PublisherIEEE
Volume2018
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Abbreviated titleBioRob
Country/TerritoryNetherlands
CityEnschede
Period26/08/1829/08/18
OtherWorkshop 5 of BIOROB 2018
Internet address

Keywords

  • n/a OA procedure

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