Towards Functional Mobile Microrobotic Systems

Abstract

This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot (
 
 
 μ
 
 
 MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot (
 
 
 μ
 
 
 TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot (
 
 
 μ
 
 
 FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks.

A cellular platform for the development of synthetic living machines

“…Constructing robot swarms at small scales remains an open problem (1)(2)(3)(4). Fabrication challenges abound, yet manufacturing advances are allowing for the construction of large numbers of microrobots composed of diverse components (5)(6)(7).…”

Creating three-dimensional magnetic functional microdevices via molding-integrated direct laser writing

“…As shown in Fig. 4b , we upgraded the single-axis micro-rotor to a 3-DOF rotary system whose three rotors could be individually controlled to rotate in three orthogonal planes, which could not be achieved by sputtering 54 . The rotor rings were molded in three steps across two photoresist casting and dissolving steps.…”

Bio-Inspired Micro- and Nanorobotics Driven by Magnetic Field

“…Moreover, the use of weak magnetic fields for the in vivo fuel-free actuation of micro- and nanorobots in a number of medical applications is absolutely safe and offers a minimally invasive solution for living organisms [ 28 , 29 , 30 ]. The transfer of single or collective biomimetic magnetic micro- and nano-objects [ 31 , 32 , 33 ] is straightforward to organize using homogeneous, inhomogeneous, gradient, or rotating magnetic fields [ 34 , 35 , 36 , 37 , 38 , 39 ]. Usually, magnetic control systems are arrays of coils that create magnetic fields of the required magnitude and spatial configuration [ 40 , 41 , 42 , 43 , 44 ].…”