“…Both parts of the micromachine are made from the same material, and immersed in the same fluid, and so it is assumed that the charge on the surfaces will be similar, and consequently repulsive. The expression for this interaction relies on the Debye length [19], as can be seen in (2), which gives the electrostatic force between two identical spheres, positioned a distance x apart, where x < 2R. In this equation R is the diameter of the particles, Z is the surface charge, κ −1 is the Debye length, 0 is the permittivity of free space, r is the relative permittivity and e c is the elementary charge.…”