Programmable Design and Performance of Modular Magnetic Microswimmers

Responsive Hydrogel-Based Modular Microrobots for Multi-Functional Micromanipulation

Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and type and the tasks they can perform are limited. In this paper, modular microrobots, with an overall size of 120 µm × 200 µm, are proposed with responsive mating components, made from stimuli-responsive hydrogels, and application specific end-effectors for microassembly tasks. The modular microrobots are fabricated based on photolithography and two-photon polymerization together or separately. Two types of modular microrobots are created based on the location of the responsive mating component. The first type of modular microrobot has a mating component that can shrink upon stimulation, while the second type has a double bilayer structure that can realize an open and close motion. The exchange of end-effectors with an identical actuation base is demonstrated for both types of microrobots. Finally, different manipulation tasks are performed with different types of end-effectors.

Magnetic field directed assembly of magnetic non-spherical microparticles

This study reports on the fabrication and assembly of anisotropic microparticles as versatile building blocks for directed magnetic assemblies. Although spherical microparticles have received extensive attention, the assembly of non-spherical magnetic microparticles remains underexplored. Herein, we present a fabrication approach that utilizes photolithography and soft lithography to create prism-shaped magnetic microparticles. In order to investigate their assembly, a switching rotating magnetic field was employed. To support our experimental findings, a numerical model which takes into account the magnetic dipole moments induced by the field of other particles was developed. This model helps in understanding the forces and torques governing particle behavior during assembly. Simulations were conducted using the numerical model to complement our experimental findings. In the two particle experiments, attractive magnetic interactions led to various configurations depending on initial positions. For three particles, a tip-to-tip configuration suggested closed or stable ring-like structures. Our work highlights the feasibility of producing highly responsive, non-spherical magnetic microparticles and their potential for assemblies. The versatile fabrication method, coupled with the added degree of freedom conferred by prismatic shapes, opens promising avenues for applications in biology and material science.

Theoretical Investigation on the Metamaterials Based on the Magnetic Template-Assisted Self-Assembly of Magnetic-Plasmonic Nanoparticles for Adjustable Photonic Responses

The assembly of artificial nano- or microstructured materials with tunable functionalities and structures, mimicking nature's complexity, holds great potential for numerous novel applications. Despite remarkable progress in synthesizing colloidal molecules with diverse functionalities, most current methods, such as the capillarity-assisted particle assembly method, the ionic assembly method based on ionic interactions, or the field-directed assembly strategy based on dipole-dipole interactions, are confined to focusing on achieving symmetrical molecules. But there have been few examples of fabricating asymmetrical colloidal molecules that could exhibit unprecedented optical properties. Here, we introduce a microfluidic and magnetic template-assisted self-assembly protocol that relies mainly on the magnetic dipole-dipole interactions between magnetized magnetic-plasmonic nanoparticles and the mechanical constraints resulting from the specially designed traps. This novel strategy not only requires no specific chemistry but also enables magnetophoretic control of magnetic-plasmonic nanoparticles during the assembly process. Moreover, the assembled asymmetrical colloidal molecules also exhibit interesting hybridized plasmon modes and produce exotic optical properties due to the strong coupling of the individual nanoparticle. The ability to fabricate asymmetrical colloidal molecules based on the bottom-up method opens up a new direction for the fabrication of novel microscale structures for biosensing, patterning, and delivery applications.

Adaptive 2D and Pseudo-2D Systems: Molecular, Polymeric, and Colloidal Building Blocks for Tailored Complexity

Two-dimensional and pseudo-2D systems come in various forms. Membranes separating protocells from the environment were necessary for life to occur. Later, compartmentalization allowed for the development of more complex cellular structures. Nowadays, 2D materials (e.g., graphene, molybdenum disulfide) are revolutionizing the smart materials industry. Surface engineering allows for novel functionalities, as only a limited number of bulk materials have the desired surface properties. This is realized via physical treatment (e.g., plasma treatment, rubbing), chemical modifications, thin film deposition (using both chemical and physical methods), doping and formulation of composites, or coating. However, artificial systems are usually static. Nature creates dynamic and responsive structures, which facilitates the formation of complex systems. The challenge of nanotechnology, physical chemistry, and materials science is to develop artificial adaptive systems. Dynamic 2D and pseudo-2D designs are needed for future developments of life-like materials and networked chemical systems in which the sequences of the stimuli would control the consecutive stages of the given process. This is crucial to achieving versatility, improved performance, energy efficiency, and sustainability. Here, we review the advancements in studies on adaptive, responsive, dynamic, and out-of-equilibrium 2D and pseudo-2D systems composed of molecules, polymers, and nano/microparticles.

Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots

Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.

Aligned Magnetic Nanocomposites for Modularized and Recyclable Soft Microrobots

Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains. By directionally bonding the sides or backs of identical modules together, we demonstrate that assemblies from only two and four modules can execute a wide range of locomotion, including gripping microscale objects, crawling and crossing solid obstacles, swimming within narrow and tortuous microchannels, and rolling along flat and inclined surfaces, upon applying proper magnetic fields. The assembled microrobots can additionally perform pick-transfer-place and cargo-release tasks at the microscale. More importantly, like the game of block-building, the microrobots can be disassembled back to separate modules and then reassembled to other configurations as demanded. The present study not only provides a versatile and economic manufacturing technique for reconfigurable and recyclable soft microrobots, enabling unlimited design space for diverse robotic locomotion from limited materials and module structures, but also extends the functionality and dexterity of existing soft robots to microscale that should facilitate practical applications at such small scale.

Friction Induces Anisotropic Propulsion in Sliding Magnetic Microtriangles

In viscous fluids, motile microentities such as bacteria or artificial swimmers often display different transport modes than macroscopic ones. A current challenge in the field aims at using friction asymmetry to steer the motion of microscopic particles. Here we show that lithographically shaped magnetic microtriangles undergo a series of complex transport modes when driven by a precessing magnetic field, including a surfing-like drift close to the bottom plane. In this regime, we exploit the triangle asymmetric shape to obtain a transversal drift which is later used to transport the microtriangle in any direction along the plane. We explain this friction-induced anisotropic sliding with a minimal numerical model capable to reproduce the experimental results. Due to the flexibility offered by soft-lithographic sculpturing, our method to guide anisotropic-shaped magnetic microcomposites can be potentially extended to many other field responsive structures operating in fluid media.

Gas generation due to photocatalysis as a method to reduce the resistance force in the process of motors motion at the air-liquid interface

HYPOTHESIS

The problem of the development of miniature motors able to move on the air-liquid interface at low Reynolds numbers is a crucial challenge due to dominating role of viscous force. To solve this problem the chemical generation of gas can be used. Generated gas pushes liquid out from the surfer surface, so the resistance force is reduced.

EXPERIMENTS

Surfer composed of TiO₂ nanoparticles and ferromagnetic cobalt microparticles moves at the interface of an aqueous solution of hydrogen peroxide under the action of magnetic force. After irradiation with UV or visible light, the gas cavern is formed at the surfer surface due to photo-catalytic decomposition of hydrogen peroxide. As a result, the area of surfer contact with liquid is reduced.

FINDINGS

The resistance force acting on the surfer is reduced due to the liquid pushing out from the surfer surface. This effect is strengthened with the increase in the intensity of gas generation. The resistance force is increased when increasing the liquid viscosity or using a surfactant. The proposed method allows control of the velocity of the motors in a rather wide range by changing the gradient of the magnetic field and parameters of light.

Magnetic Nanomotors in Emulsions for Locomotion of Microdroplets

The locomotion of droplets in emulsions is of practical significance for fields related to medicine and chemical engineering, which can be done with a magnetic field to move droplets containing magnetic materials. Here, we demonstrate a new method of droplet locomotion in the oil-in-water emulsion with the help of a nonuniform magnetic field in the case where magnetic nanoparticles (MNPs) are dispersed in the continuous phase of the emulsion. The paper analyses the motion of the droplets in a liquid film and in a capillary for various diameters of droplets, their number density, and viscosity of the continuous phase of the emulsion. It is established that the mechanism of droplet locomotion in the emulsion largely depends on the wettability of MNPs. Hydrophobic nanoparticles are adsorbed on the droplet surfaces, forming the agglomerates of MNPs with the droplets. Such agglomerates move at much higher velocities than passive droplets. Hydrophilic nanoparticles are not adsorbed at the surfaces of the droplets but form mobile magnetic clusters dispersed in the continuous phase of the emulsion. Mobile magnetic clusters set the surrounding liquid and droplets in motion. The results obtained in this paper can be used in drug delivery.

Magnetic Nanorobots as Maneuverable Immunoassay Probes for Automated and Efficient Enzyme Linked Immunosorbent Assay

As a typical, classical, but powerful biochemical sensing technology in analytical chemistry, enzyme-linked immunosorbent assay (ELISA) shows excellence and wide practicability for quantifying analytes of ultralow concentration. However, long incubation time and burdensome laborious multistep washing processes make it inefficient and labor-intensive for conventional ELISA. Here, we propose rod-like magnetically driven nanorobots (MNRs) for use as maneuverable immunoassay probes that facilitate a strategy for an automated and highly efficient ELISA analysis, termed nanorobots enabled ELISA (nR-ELISA). To prepare the MNRs, the self-assembled chains of Fe₃O₄ magnetic particles are chemically coated with a thin layer of rigid silica oxide (SiO₂), onto which capture antibody (Ab1) is grafted to further achieve magnetically maneuverable immunoassay probes (MNR-Ab1s). We investigate the fluid velocity distribution around the MNRs at microscale using numerical simulation and empirically identify the mixing efficiency of the actively rotating MNRs. To automate the analysis process, we design and fabricate by 3-D printing a detection unit consisting of three function wells. The MNR-Ab1s can be steered into different function wells for required reaction or wishing process. The actively rotating MNR-Ab1s can enhance the binding efficacy with target analytes at microscale and greatly decrease incubation time. The integrated nR-ELISA system can significantly reduce the assay time, more importantly during which process manpower input is greatly minimized. Our simulation of the magnetic field distribution generated by Helmholtz coils demonstrates that our approach can be scaled up, which proves the feasibility of using current strategy to construct high throughput nR-ELISA detection instrument. This work of taking magnetic micro/nanobots as active immunoassay probes for automatic and efficient ELISA not only holds great potential for point-of-care testing (POCT) in future but also extends the practical applications of self-propelled micro/nanorobots into the field of analytical chemistry.