Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm

Abstract

In this work, we demonstrate the ability of soft microrobotic sperms to manipulate non-magnetic microbeads in two-dimensional space. First, we model the interaction between the microrobotic sperm and microbeads using the resistive-force theory (RFT). This RFT-based model enables us to predict the maximum payload a soft microrobotic sperm can manipulate at different actuation frequencies. Second, we demonstrate manipulation of the microbeads using microrobotic sperm under the influence of controlled magnetic fields. Our teleoperation manipulation trials show that the microrobotic sperm swims at an average speeds of 0.16 and 0.035 body-Iength-per-second during collision-free locomotion and manipulation, respectively. In addition, the microrobotic sperm positions 2-microbead within the vicinity of a reference position with maximum steady-state error of $55\ \mu \text{m}$.