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Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 µm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head...
We achieve mechanical grinding of blood clots using helical microrobots with average diameter of 300 µm inside catheter segments. The helical microrobot is steered and propelled under the influence of rotating magnetic fields (20 mT). These fields are generated using a magnetic-based robotic system with two rotating dipole fields. First, we analyze the optimal configuration of the rotating dipole...
We control the motion of paramagnetic microparticles with average diameter of 100 µm inside microfluidic channels against and along time-varying flow rates. The drag force and the force due to time-varying flow rate are modeled as time-varying disturbance force. This force is estimated using a disturbance force observer and compensated using a magnetic-based closed-loop control system. The closed-loop...
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...
We control the motion of helical microrobots with average diameter of 500 µm in two-dimensional (2D) and three-dimensional (3D) spaces using two synchronized rotating dipole fields. The utilization of the two synchronized dipole fields not only increases the magnetic torque exerted on the magnetic dipole of the helical microrobot but also eliminates the magnetic field gradients along its lateral directions...
This work addresses the magnetic-based control of a helical robot and the mitigation of the magnetic forces on its dipole moment during radial steering using rotating permanent magnets. A magnetic system with two synchronized permanent magnets that rotate quasistatically is used to move the helical robot (length and diameter of 12.5 mm and 4 mm, respectively). We experimentally demonstrate that using...
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