Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization

Islam S.M. Khalil; Ahmet Fatih Tabak; Abdelrahman Hosney; Abdalla Mohamed; Anke Klingner; Maged Ghoneima; Metin Sitti

doi:10.1109/ICRA.2016.7487340

Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization

Islam S.M. Khalil
, Ahmet Fatih Tabak
, Abdelrahman Hosney
, Abdalla Mohamed
, Anke Klingner
, Maged Ghoneima
, Metin Sitti

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

30 Citations (Scopus)

Abstract

We use electrospinning to fabricate sperm-shaped magnetic microrobots with a range of diameters from 50 μm to 500 μm. The variables of the electrospinning operation (voltage, concentration of the solution, dynamic viscosity, and distance between the syringe needle and collector) to achieve beading effect are determined. This beading effect allows us to fabricate microrobots with similar morphology to that of sperm cells. The bead and the ultra-fine fiber resemble the morphology of the head and tail of the sperm cell, respectively. We incorporate iron oxide nanoparticles to the head of the sperm-shaped microrobot to provide a magnetic dipole moment. This dipole enables directional control under the influence of external magnetic fields. We also apply weak (less than 2 mT) oscillating magnetic fields to exert a magnetic torque on the magnetic head, and generate planar flagellar waves and flagellated swim. The average speed of the sperm-shaped microrobot is calculated to be 0.5 body lengths per second and 1 body lengths per second at frequencies of 5 Hz and 10 Hz, respectively. We also develop a model of the microrobot using elastohydrodynamics approach and Timoshenko-Rayleigh beam theory, and find good agreement with the experimental results.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1939-1944
Number of pages	6
ISBN (Electronic)	978-1-4673-8026-3
DOIs	https://doi.org/10.1109/ICRA.2016.7487340
Publication status	Published - 8 Jun 2016
Externally published	Yes
Event	2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 https://www.icra2016.org/

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2016
ISSN (Print)	1050-4729

Conference

Conference	2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Abbreviated title	ICRA
Country/Territory	Sweden
City	Stockholm
Period	16/05/16 → 21/05/16
Internet address	https://www.icra2016.org/

Keywords

n/a OA procedure

Access to Document

10.1109/ICRA.2016.7487340

Cite this

Khalil, I. S. M., Tabak, A. F., Hosney, A., Mohamed, A., Klingner, A., Ghoneima, M., & Sitti, M. (2016). Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 1939-1944). Article 7487340 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2016). IEEE. https://doi.org/10.1109/ICRA.2016.7487340

Khalil, Islam S.M. ; Tabak, Ahmet Fatih ; Hosney, Abdelrahman et al. / Sperm-shaped magnetic microrobots : Fabrication using electrospinning, modeling, and characterization. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ : IEEE, 2016. pp. 1939-1944 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)).

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abstract = "We use electrospinning to fabricate sperm-shaped magnetic microrobots with a range of diameters from 50 μm to 500 μm. The variables of the electrospinning operation (voltage, concentration of the solution, dynamic viscosity, and distance between the syringe needle and collector) to achieve beading effect are determined. This beading effect allows us to fabricate microrobots with similar morphology to that of sperm cells. The bead and the ultra-fine fiber resemble the morphology of the head and tail of the sperm cell, respectively. We incorporate iron oxide nanoparticles to the head of the sperm-shaped microrobot to provide a magnetic dipole moment. This dipole enables directional control under the influence of external magnetic fields. We also apply weak (less than 2 mT) oscillating magnetic fields to exert a magnetic torque on the magnetic head, and generate planar flagellar waves and flagellated swim. The average speed of the sperm-shaped microrobot is calculated to be 0.5 body lengths per second and 1 body lengths per second at frequencies of 5 Hz and 10 Hz, respectively. We also develop a model of the microrobot using elastohydrodynamics approach and Timoshenko-Rayleigh beam theory, and find good agreement with the experimental results.",

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author = "Khalil, \{Islam S.M.\} and Tabak, \{Ahmet Fatih\} and Abdelrahman Hosney and Abdalla Mohamed and Anke Klingner and Maged Ghoneima and Metin Sitti",

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Khalil, ISM, Tabak, AF, Hosney, A, Mohamed, A, Klingner, A, Ghoneima, M & Sitti, M 2016, Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016., 7487340, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2016, IEEE, Piscataway, NJ, pp. 1939-1944, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487340

Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization. / Khalil, Islam S.M.; Tabak, Ahmet Fatih; Hosney, Abdelrahman et al.
2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ: IEEE, 2016. p. 1939-1944 7487340 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2016).

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

TY - GEN

T1 - Sperm-shaped magnetic microrobots

T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016

AU - Khalil, Islam S.M.

AU - Tabak, Ahmet Fatih

AU - Hosney, Abdelrahman

AU - Mohamed, Abdalla

AU - Klingner, Anke

AU - Ghoneima, Maged

AU - Sitti, Metin

PY - 2016/6/8

Y1 - 2016/6/8

N2 - We use electrospinning to fabricate sperm-shaped magnetic microrobots with a range of diameters from 50 μm to 500 μm. The variables of the electrospinning operation (voltage, concentration of the solution, dynamic viscosity, and distance between the syringe needle and collector) to achieve beading effect are determined. This beading effect allows us to fabricate microrobots with similar morphology to that of sperm cells. The bead and the ultra-fine fiber resemble the morphology of the head and tail of the sperm cell, respectively. We incorporate iron oxide nanoparticles to the head of the sperm-shaped microrobot to provide a magnetic dipole moment. This dipole enables directional control under the influence of external magnetic fields. We also apply weak (less than 2 mT) oscillating magnetic fields to exert a magnetic torque on the magnetic head, and generate planar flagellar waves and flagellated swim. The average speed of the sperm-shaped microrobot is calculated to be 0.5 body lengths per second and 1 body lengths per second at frequencies of 5 Hz and 10 Hz, respectively. We also develop a model of the microrobot using elastohydrodynamics approach and Timoshenko-Rayleigh beam theory, and find good agreement with the experimental results.

AB - We use electrospinning to fabricate sperm-shaped magnetic microrobots with a range of diameters from 50 μm to 500 μm. The variables of the electrospinning operation (voltage, concentration of the solution, dynamic viscosity, and distance between the syringe needle and collector) to achieve beading effect are determined. This beading effect allows us to fabricate microrobots with similar morphology to that of sperm cells. The bead and the ultra-fine fiber resemble the morphology of the head and tail of the sperm cell, respectively. We incorporate iron oxide nanoparticles to the head of the sperm-shaped microrobot to provide a magnetic dipole moment. This dipole enables directional control under the influence of external magnetic fields. We also apply weak (less than 2 mT) oscillating magnetic fields to exert a magnetic torque on the magnetic head, and generate planar flagellar waves and flagellated swim. The average speed of the sperm-shaped microrobot is calculated to be 0.5 body lengths per second and 1 body lengths per second at frequencies of 5 Hz and 10 Hz, respectively. We also develop a model of the microrobot using elastohydrodynamics approach and Timoshenko-Rayleigh beam theory, and find good agreement with the experimental results.

KW - n/a OA procedure

UR - https://www.scopus.com/pages/publications/84977501040

U2 - 10.1109/ICRA.2016.7487340

DO - 10.1109/ICRA.2016.7487340

M3 - Conference contribution

AN - SCOPUS:84977501040

T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)

SP - 1939

EP - 1944

BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016

PB - IEEE

CY - Piscataway, NJ

Y2 - 16 May 2016 through 21 May 2016

ER -

Khalil ISM, Tabak AF, Hosney A, Mohamed A, Klingner A, Ghoneima M et al. Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Piscataway, NJ: IEEE. 2016. p. 1939-1944. 7487340. (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)). doi: 10.1109/ICRA.2016.7487340

Sperm-shaped magnetic microrobots: Fabrication using electrospinning, modeling, and characterization

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