Nano and micro architectures for self-propelled motors

Recent Advances in Light-Driven Semiconductor-Based Micro/Nanomotors: Optimization Strategies and Emerging Applications

Micro/nanomotors represent a burgeoning field of research featuring small devices capable of autonomous movement in liquid environments through catalytic reactions and/or external stimuli. This review delves into recent advancements in light-driven semiconductor-based micro/nanomotors (LDSM), focusing on optimized syntheses, enhanced motion mechanisms, and emerging applications in the environmental and biomedical domains. The survey commences with a theoretical introduction to micromotors and their propulsion mechanisms, followed by an exploration of commonly studied LDSM, emphasizing their advantages. Critical properties affecting propulsion, such as surface features, morphology, and size, are presented alongside discussions on external conditions related to light sources and intensity, which are crucial for optimizing the propulsion speed. Each property is accompanied by a theoretical background and conclusions drawn up to 2018. The review further investigates recent adaptations of LDSM, uncovering underlying mechanisms and associated benefits. A brief discussion is included on potential synergistic effects between different external conditions, aiming to enhance efficiency-a relatively underexplored topic. In conclusion, the review outlines emerging applications in biomedicine and environmental monitoring/remediation resulting from recent LDSM research, highlighting the growing significance of this field. The comprehensive exploration of LDSM advancements provides valuable insights for researchers and practitioners seeking to leverage these innovative micro/nanomotors in diverse applications.

Ultrasound robotics for precision therapy

In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.

Focus on the performance enhancement of micro/nanomotor-based biosensors

Micro/nanomotors (MNMs) emerge as a vital candidate for biosensing due to its nano-size structure, high surface-to-area ratio, directional mobility, biocompatibility, and ease of functionalization, therefore being able to detect objects with high efficiency, precision, and selectivity. The driving mode, nanostructure, materials property, preparation technique, and biosensing applications have been thoroughly discussed in publications. To promote the MNMs-based biosensors from in vitro to in vivo, it is necessary to give a comprehensive discussion from the perspective of sensing performances enhancement. However, until now, there is few reviews dedicated to the systematic discussion on the multiple performance enhancement schemes and the current challenges of MNMs-based biosensors. Bearing it in mind and based on our research experience in this field, we summarized the enhancement methods for biosensing properties such as sensitivity, selectivity, detection time, biocompatibility, simplify system operation, and environmental availability. We hope that this review provides the readers with fundamental understanding on performance enhancement schemes for MNMs-based biosensors.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

Nonequilibrium Dynamics of Transient Autoelectrophoresis and Effect of Surface Heterogeneity

Nonuniform proton flux around a reactive Janus particle as a result of zone selective heterogeneous surface reaction leads to the formation of asymmetric electrical double layers (EDLs) which assists in generating a proximate electric field dipole around the Janus particle to initiate autoelectrophoretic migration. To estimate the force of the autoelectrophoretic motion of such Janus particles, a mathematical model is set up taking Poisson-Nernst-Plank (PNP) equations coupled with the Navier-Stokes (NS) equations with appropriate boundary conditions. To track the actual motion of these particles, we employ moving deforming mesh and fluid-structure interactions (fsi) of COMSOL Multiphysics while a finite element method is deployed for solving the set of modeled equations. At the outset, transient genesis of the electric field around the particle owing to the nonuniform proton flux has been explored. We further explore the detailed unsteady particle dynamics of the autoelectrophoretic motion with the help of fluid structure interaction physics. It has been observed that the concept of perfect ionic equilibrium in autoelectrophoretic motion is hard to achieve. The autoelectrophoretic particle undergoes continuous change in terms of the ionic concentration around it, speed of the particle, and the transient electric field gradient across the particle. The parametric variation of proton flux reveals that at a relatively lower proton flux a quasi-equilibrium state can be achieved, whereas for higher proton flux the phenomenon can be a pure nonequilibrium case. This parametric study has been done to support the transient dynamics. It has also been shown that the presence of chemical heterogeneity on the particle surface can alter the dynamics of the particle significantly, and the chemical heterogeneity can be used as a tool to control directionality and tuning speed of autoelectrophoretic motion.

Advances in Biodegradable Soft Robots

Biodegradable soft robots have been proposed for a variety of intelligent applications in soft robotics, flexible electronics, and bionics. Biodegradability offers an extraordinary functional advantage to soft robots for operations accompanying smart shape transformation in response to external stimuli such as heat, pH, and light. This review primarily surveyed the current advanced scientific and engineering strategies for integrating biodegradable materials within stimuli-responsive soft robots. It also focused on the fabrication methodologies of multiscale biodegradable soft robots, and highlighted the role of biodegradable soft robots in enhancing the multifunctional properties of drug delivery capsules, biopsy tools, smart actuators, and sensors. Lastly, the current challenges and perspectives on the future development of intelligent soft robots for operation in real environments were discussed.

Reconfigurable assembly of colloidal motors towards interactive soft materials and systems

Due to the highly flexible reconfiguration of swarms, collective behaviors have provided various natural organisms with a powerful adaptivity to the complex environment. To mimic these natural systems and construct artificial intelligent soft materials, self-propelled colloidal motors that can convert diverse forms of energy into swimming-like movement in fluids afford an ideal model system at the micro-/nanoscales. Through the coupling of local gradient fields, colloidal motors driven by chemical reactions or externally physical fields can assembly into swarms with adaptivity. Here, we summarize the progress on reconfigurable assembly of colloidal motors which is driven and modulated by chemical reactions and external fields (e.g., light, ultrasonic, electric, and magnetic fields). The adaptive reconfiguration behaviors and the corresponding mechanisms are discussed in detail. The future directions and challenges are also addressed for developing colloidal motor-based interactive soft matter materials and systems with adaptation and interactive functions comparable to that of natural systems.

Acoustics-Actuated Microrobots

Microrobots can operate in tiny areas that traditional bulk robots cannot reach. The combination of acoustic actuation with microrobots extensively expands the application areas of microrobots due to their desirable miniaturization, flexibility, and biocompatibility features. Herein, an overview of the research and development of acoustics-actuated microrobots is provided. We first introduce the currently established manufacturing methods (3D printing and photolithography). Then, according to their different working principles, we divide acoustics-actuated microrobots into three categories including bubble propulsion, sharp-edge propulsion, and in-situ microrotor. Next, we summarize their established applications from targeted drug delivery to microfluidics operation to microsurgery. Finally, we illustrate current challenges and future perspectives to guide research in this field. This work not only gives a comprehensive overview of the latest technology of acoustics-actuated microrobots, but also provides an in-depth understanding of acoustic actuation for inspiring the next generation of advanced robotic devices.

Active matter dynamics in confined microfluidic environments

The field of active matter is a nascent area of research in soft condensed matter physics, which is drawing on the expertise of researchers from diverse disciplines. Small scale active particles-both inorganic and biological-display non-trivial emergent dynamics and interactions that could help us understand complex biological processes and phenomena. Recently, using microfluidic technologies, several research groups have performed important experimental and theoretical studies to understand the behavior of self-propelled particles and molecular active matter within confined environments-to glean a fundamental understanding of the cellular processes occurring under ultra-low Reynolds number conditions. In this chapter, we would like to review applications of microfluidics in active matter research, highlighting a few important theoretical and experimental investigations. We will conclude the discussion with a note on the future of this field mentioning a few open questions that are at the forefront of our minds.

A Practical Guide to Analyzing and Reporting the Movement of Nanoscale Swimmers

The recent invention of nanoswimmers-synthetic, powered objects with characteristic lengths in the range of 10-500 nm-has sparked widespread interest among scientists and the general public. As more researchers from different backgrounds enter the field, the study of nanoswimmers offers new opportunities but also significant experimental and theoretical challenges. In particular, the accurate characterization of nanoswimmers is often hindered by strong Brownian motion, convective effects, and the lack of a clear way to visualize them. When coupled with improper experimental designs and imprecise practices in data analysis, these issues can translate to results and conclusions that are inconsistent and poorly reproducible. This Perspective follows the course of a typical nanoswimmer investigation from synthesis through to applications and offers suggestions for best practices in reporting experimental details, recording videos, plotting trajectories, calculating and analyzing mobility, eliminating drift, and performing control experiments, in order to improve the reliability of the reported results.

Gas-propelled biosensors for quantitative analysis

Gas-propelled biosensors display a simple gas-based signal amplification with quantitative detection features based on the target recognition event in combination with gas propulsion. Due to the liquid-gas conversion, the gas not only pushes the ink bar forward in the microchannel, but also serves as the power to propel the micromotors in the liquid. Thus, this continuous motion leads to a shift in distances which is associated with the target amount. Therefore, gas-propelled biosensors provide a visual quantification based on distance or speed signals without the need for expensive instruments. In this review, we focus on current developments in gas-propelled biosensors for quantitative analysis. First, we list the types of gas utilized as actuators in biosensors. Second, we review the representative gas-propelled biosensors, including the propulsion mechanisms and fabrication methods. Moreover, gas-propelled quantification based on distance and speed is summarized. Finally, we cover applications and provide a future perspective of gas-propelled biosensors.

Smartdust 3D-Printed Graphene-Based Al/Ga Robots for Photocatalytic Degradation of Explosives

Milli/micro/nanorobots are considered smart devices able to convert energy taken from different sources into mechanical movement and accomplish the appointed tasks. Future advances and realization of these tiny devices are mostly limited by the narrow window of material choices, the fuel requirement, multistep surface functionalization, rational structural design, and propulsion ability in complex environments. All these aspects call for intensive improvements that may speed up the real application of such miniaturized robots. 3D-printed graphene-based smartdust robots provided with a magnetic response and filled with aluminum/gallium molten alloy (Al/Ga) for autonomous motion are presented. These robots can swim by reacting with the surrounding environment without adding any fuel. Because their outer surface is coated with a hydrogel/photocatalyst (chitosan/carbon nitride, C₃ N₄ ) layer, these robots are used for the photocatalytic degradation of the picric acid as an explosive model molecule under visible light. The results show a fast and efficient degradation of picric acid that is attributed to a synergistic effect between the adsorption capability of the chitosan and the photocatalytic activity of C₃ N₄ particles. This work provides added insight into the large-scale fabrication, easy functionalization, and propulsion of tiny robots for environmental applications.

Multimodal chemo-/magneto-/phototaxis of 3G CNT-bots to power fuel cells

We report the development of a 3G microswimmer, namely, CNT-bot, capable of undergoing acid-, alkali-, magneto- and phototaxis inside acidic or alkaline baths of peroxide fuel and/or water. The use of carboxyl-functionalised multi-walled carbon nanotubes (MWCNTs) facilitated the propulsion of CNT-bots in an alkaline-water solution by ejecting carbon-dioxide bubbles. Furthermore, doping of magnetite nanoparticles (FeONPs), ferrous ions (Fe²⁺) and titanium dioxide nanoparticles (TiONPs) induces magnetic, chemical and photonic modes of propulsion. While FeONPs stimulated magnetotaxis at a rate of up to ~10 body lengths per second under the influence of a bar magnet, chemotaxis of a similar speed in a peroxide fuel was achieved by bubble-propulsion of oxygen gas originating from the Fenton reaction. In addition, the light-stimulated photo-Fenton reaction led to phototaxis of CNT-bots. A thin coating of magnesium imparted a half-faced Janus appearance to the CNT-bots, which facilitated motion in normal or acidic water media through the ejection of hydrogen gas bubbles. This chemotaxis could be transformed into pH-stimulated directional motion by establishing an acid or alkali concentration gradient across the peroxide and/or water baths. The capacity of CNT-bots to produce oxygen (hydrogen) bubbles in peroxide (acidic water) fuel was exploited to power a PEM fuel cell to generate electricity. The pure oxygen and hydrogen gases generated by CNT-bots in separate chambers were fed directly into the fuel cell in which the incessant motions of the particle facilitated the creation and release of the pure gases to achieve on-demand electricity generation. The motor could also induce dye degradation through advanced oxidation owing to the production of intermediate hydroxyl radicals during the Fenton reaction.

Design and Fabrication of Tubular Micro/Nanomotors via 3D Laser Lithography

Catalytic tubular micro/nanomachines convert chemical energy from a surrounding aqueous fuel solution into mechanical energy to generate autonomous movements, propelled by the oxygen bubbles decomposed by hydrogen peroxide and expelled from the microtubular cavity. With the development of nanotechnology, micro/nanomotors have attracted more and more interest due to their numerous potential for in vivo and in vitro applications. Here, highly efficient chemical catalytic microtubular motors were fabricated via 3D laser lithography and their motion behavior under the action of driving force in fluids was demonstrated. The frequency of catalytically-generated bubbles ejection was influenced by the geometrical shape of the micro/nanomotor and surrounding chemical fuel environment, resulting in the variation in motion speed. The micro/nanomotors generated with a rocket-like shape displayed a more active motion compared with that of a single tubular micro/nanomotor, providing a wider range of practical micro-/nanoscale applications in the future.

Recoverable Bismuth-Based Microrobots: Capture, Transport, and On-Demand Release of Heavy Metals and an Anticancer Drug in Confined Spaces

Self-propelled microrobots are seen as the next step of micro- and nanotechnology. The biomedical and environmental applications of these robots in the real world need their motion in the confined environments, such as in veins or spaces between the grains of soil. Here, self-propelled trilayer microrobots have been prepared using electrodeposition techniques, coupling unique properties of green bismuth (Bi) with a layered crystal structure, magnetic nickel (Ni), and a catalytic platinum (Pt) layer. These Bi-based microrobots are investigated as active self-propelled platforms that can load, transfer, and release both doxorubicin (DOX), as a widely used anticancer drug, and arsenic (As) and chromium (Cr), as hazardous heavy metals. The significantly high loading capability for such variable cargoes is due to the high surface area provided by the rhombohedral layered crystal structure of bismuth, as well as the defects introduced through the oxide layer formed on the surface of bismuth. The drug release is based on an ultrafast electroreductive mechanism in which the electron injection into microrobots and consequently into the loaded objects causes an electrostatic repulsion between them and thus an ultrafast release of the loaded cargos. Remarkably, we have presented magnetic control of the Bi-based microrobots inside a microfluidic system equipped with an electrochemical setup as a proof-of-concept to demonstrate (i) heavy metals/DOX loading, (ii) a targeted transport system, (iii) the on-demand release mechanism, and (iv) the recovery of the robots for further usage.

Experimental Study of the Motion of Patchy Particle Swimmers Near a Wall

In this work, we demonstrate our ability to precisely tailor the surface activity of self-propelled active colloids by varying the size of the active area. The quasi two-dimensional autonomous motion of spherical patchy particle swimmers is studied in a chemical environment in the vicinity of a solid boundary. Oxidative decomposition of hydrogen peroxide into oxygen and water occurs only on a well-defined Pt-coated section of the polystyrene particle surface. The asymmetric distribution of product molecules interacting with the particle leads to the autonomous motion, which is characterized as the patch size varies from 11 to 25 to 50% of the particle surface area. The phoretic motion of patchy particle swimmers is analytically predicted by a model developed by Popescu et al. and shows good agreement with the experimentally observed velocities when the influence of the wall on the preferential rotational motion of the particles near the solid boundary is considered. The study illustrates the potential to precisely engineer the motion of particles by controlling their properties rather than depending on changes in the environment.

Advanced Nanoscale Approaches to Single-(Bio)entity Sensing and Imaging

Individual (bio)chemical entities could show a very heterogeneous behaviour under the same conditions that could be relevant in many biological processes of significance in the life sciences. Conventional detection approaches are only able to detect the average response of an ensemble of entities and assume that all entities are identical. From this perspective, important information about the heterogeneities or rare (stochastic) events happening in individual entities would remain unseen. Some nanoscale tools present interesting physicochemical properties that enable the possibility to detect systems at the single-entity level, acquiring richer information than conventional methods. In this review, we introduce the foundations and the latest advances of several nanoscale approaches to sensing and imaging individual (bio)entities using nanoprobes, nanopores, nanoimpacts, nanoplasmonics and nanomachines. Several (bio)entities such as cells, proteins, nucleic acids, vesicles and viruses are specifically considered. These nanoscale approaches provide a wide and complete toolbox for the study of many biological systems at the single-entity level.

Metal-Oxide-Based Microjets for the Simultaneous Removal of Organic Pollutants and Heavy Metals

Water contamination from industrial and anthropogenic activities is nowadays a major issue in many countries worldwide. To address this problem, efficient water treatment technologies are required. Recent efforts have focused on the development of self-propelled micromotors that provide enhanced micromixing and mass transfer by the transportation of reactive species, resulting in higher decontamination rates. However, a real application of these micromotors is still limited due to the high cost associated to their fabrication process. Here, we present Fe₂O₃-decorated SiO₂/MnO₂ microjets for the simultaneous removal of industrial organic pollutants and heavy metals present in wastewater. These microjets were synthesized by low-cost and scalable methods. They exhibit an average speed of 485 ± 32 μm s^-1 (∼28 body length per s) at 7% H₂O₂, which is the highest reported for MnO₂-based tubular micromotors. Furthermore, the photocatalytic and adsorbent properties of the microjets enable the efficient degradation of organic pollutants, such as tetracycline and rhodamine B under visible light irradiation, as well as the removal of heavy metal ions, such as Cd²⁺ and Pb²⁺.

Small-Scale Machines Driven by External Power Sources

Micro- and nanorobots have shown great potential for applications in various fields, including minimally invasive surgery, targeted therapy, cell manipulation, environmental monitoring, and water remediation. Recent progress in the design, fabrication, and operation of these miniaturized devices has greatly enhanced their versatility. In this report, the most recent progress on the manipulation of small-scale robots based on power sources, such as magnetic fields, light, acoustic waves, electric fields, thermal energy, or combinations of these, is surveyed. The design and propulsion mechanism of micro- and nanorobots are the focus of this article. Their fabrication and applications are also briefly discussed.

Design of Microscale Magnetic Tumbling Robots for Locomotion in Multiple Environments and Complex Terrains

This paper presents several variations of a microscale magnetic tumbling ( μ TUM) robot capable of traversing complex terrains in dry and wet environments. The robot is fabricated by photolithography techniques and consists of a polymeric body with two sections with embedded magnetic particles aligned at the ends and a middle nonmagnetic bridge section. The robot's footprint dimensions are 400 μ m × 800 μ m. Different end geometries are used to test the optimal conditions for low adhesion and increased dynamic response to an actuating external rotating magnetic field. When subjected to a magnetic field as low as 7 mT in dry conditions, this magnetic microrobot is able to operate with a tumbling locomotion mode and translate with speeds of over 60 body lengths/s (48 mm/s) in dry environments and up to 17 body lengths/s (13.6 mm/s) in wet environments. Two different tumbling modes were observed and depend on the alignment of the magnetic particles. A technique was devised to measure the magnetic particle alignment angle relative to the robot's geometry. Rotational frequency limits were observed experimentally, becoming more prohibitive as environment viscosity increases. The μ TUM's performance was studied when traversing inclined planes (up to 60°), showing promising climbing capabilities in both dry and wet conditions. Maximum open loop straight-line trajectory errors of less than 4% and 2% of the traversal distance in the vertical and horizontal directions, respectively, for the μ TUM were observed. Full directional control of μ TUM was demonstrated through the traversal of a P-shaped trajectory. Additionally, successful locomotion of the optimized μ TUM design over complex terrains was also achieved. By implementing machine vision control and/or embedding of payloads in the middle section of the robot, it is possible in the future to upgrade the current design with computer-optimized mobility through multiple environments and the ability to perform drug delivery tasks for biomedical applications.

Emulsion Hydrogel Soft Motor Actuated by Thermal Stimulation

An emulsion hydrogel motor (E-H motor), constituted by low-boiling-point oil fuel and a hydrogel matrix, is prepared through a simple yet versatile oil-in-water (O/W) emulsion template method. The E-H motor can be efficiently propelled by the bubbles generated under a thermal stimulus. As thermally induced explosion occurs inside the E-H motor (diameter ∼4.0 mm and length ∼6.0 mm), the gas bubbles resulting from thermotropic phase transition are violently ejected from one side, leading to a fast speed of 14.78 ± 4.82 mm s^-1 in a 60 °C aqueous solution. Additionally, multiple water-insoluble organic solvents can serve as the fuel for self-propulsion, which demonstrates the favorable universality of the E-H motor. The magnetic navigation and near-infrared propulsion can be realized through incorporating hydrophilic iron oxide (Fe₃O₄) nanoparticles and graphene oxide (GO) into the aqueous phase. Moreover, the synchronous integration of GO and enrofloxacin bactericide can enable intelligent targeted cargo transportation and delivery. The attractive self-propulsion performance, precise locomotion control, and formidable integration ability of the emulsion hydrogel-based miniaturized soft motor hold great promise for numerous practical applications.

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algorithm for bacteria-powered microrobots (BPMs) using electric field in fluidic environments. A BPM consists of an artificial body, which is made of SU-8, and a high dense layer of harnessed bacteria. BPMs can be controlled using externally applied electric fields due to the electrokinetic property of bacteria. For developing dynamic obstacle avoidance for BPMs, a kinematic model of BPMs was utilized to prevent collision and a finite element model was used to characteristic the deformation of an electric field near the obstacle walls. In order to avoid fast moving obstacles, we modified our previously static obstacle avoidance approach using a modified vector field histogram (VFH) method. To validate the advanced algorithm in experiments, magnetically controlled moving obstacles were used to intercept the BPMs as the BPMs move from the initial position to final position. The algorithm was able to successfully guide the BPMs to reach their respective goal positions while avoiding the dynamic obstacles.

Mobile microrobots for bioengineering applications

Untethered micron-scale mobile robots can navigate and non-invasively perform specific tasks inside unprecedented and hard-to-reach inner human body sites and inside enclosed organ-on-a-chip microfluidic devices with live cells. They are aimed to operate robustly and safely in complex physiological environments where they will have a transforming impact in bioengineering and healthcare. Research along this line has already demonstrated significant progress, increasing attention, and high promise over the past several years. The first-generation microrobots, which could deliver therapeutics and other cargo to targeted specific body sites, have just been started to be tested inside small animals toward clinical use. Here, we review frontline advances in design, fabrication, and testing of untethered mobile microrobots for bioengineering applications. We convey the most impactful and recent strategies in actuation, mobility, sensing, and other functional capabilities of mobile microrobots, and discuss their potential advantages and drawbacks to operate inside complex, enclosed and physiologically relevant environments. We lastly draw an outlook to provide directions in the veins of more sophisticated designs and applications, considering biodegradability, immunogenicity, mobility, sensing, and possible medical interventions in complex microenvironments.

Biohybrid Microtube Swimmers Driven by Single Captured Bacteria

Bacteria biohybrids employ the motility and power of swimming bacteria to carry and maneuver microscale particles. They have the potential to perform microdrug and cargo delivery in vivo, but have been limited by poor design, reduced swimming capabilities, and impeded functionality. To address these challenge, motile Escherichia coli are captured inside electropolymerized microtubes, exhibiting the first report of a bacteria microswimmer that does not utilize a spherical particle chassis. Single bacterium becomes partially trapped within the tube and becomes a bioengine to push the microtube though biological media. Microtubes are modified with "smart" material properties for motion control, including a bacteria-attractant polydopamine inner layer, addition of magnetic components for external guidance, and a biochemical kill trigger to cease bacterium swimming on demand. Swimming dynamics of the bacteria biohybrid are quantified by comparing "length of protrusion" of bacteria from the microtubes with respect to changes in angular autocorrelation and swimmer mean squared displacement. The multifunctional microtubular swimmers present a new generation of biocompatible micromotors toward future microbiorobots and minimally invasive medical applications.

Hybrid Magnetoelectric Nanowires for Nanorobotic Applications: Fabrication, Magnetoelectric Coupling, and Magnetically Assisted In Vitro Targeted Drug Delivery

An FeGa@P(VDF-TrFE) wire-shaped magnetoelectric nanorobot is designed and fabricated to demonstrate a proof-of-concept integrated device, which features wireless locomotion and on-site triggered therapeutics with a single external power source (i.e., a magnetic field). The device can be precisely steered toward a targeted location wirelessly by rotating magnetic fields and perform on-demand magnetoelectrically assisted drug release to kill cancer cells.

Designing Micro- and Nanoswimmers for Specific Applications

Self-propelled colloids have emerged as a new class of active matter over the past decade. These are micrometer sized colloidal objects that transduce free energy from their surroundings and convert it to directed motion. The self-propelled colloids are in many ways, the synthetic analogues of biological self-propelled units such as algae or bacteria. Although they are propelled by very different mechanisms, biological swimmers are typically powered by flagellar motion and synthetic swimmers are driven by local chemical reactions, they share a number of common features with respect to swimming behavior. They exhibit run-and-tumble like behavior, are responsive to environmental stimuli, and can even chemically interact with nearby swimmers. An understanding of self-propelled colloids could help us in understanding the complex behaviors that emerge in populations of natural microswimmers. Self-propelled colloids also offer some advantages over natural microswimmers, since the surface properties, propulsion mechanisms, and particle geometry can all be easily modified to meet specific needs.

From a more practical perspective, a number of applications, ranging from environmental remediation to targeted drug delivery, have been envisioned for these systems. These applications rely on the basic functionalities of self-propelled colloids: directional motion, sensing of the local environment, and the ability to respond to external signals. Owing to the vastly different nature of each of these applications, it becomes necessary to optimize the design choices in these colloids. There has been a significant effort to develop a range of synthetic self-propelled colloids to meet the specific conditions required for different processes. Tubular self-propelled colloids, for example, are ideal for decontamination processes, owing to their bubble propulsion mechanism, which enhances mixing in systems, but are incompatible with biological systems due to the toxic propulsion fuel and the generation of oxygen bubbles. Spherical swimmers serve as model systems to understand the fundamental aspects of the propulsion mechanism, collective behavior, response to external stimuli, etc. They are also typically the choice of shape at the nanoscale due to their ease of fabrication. More recently biohybrid swimmers have also been developed which attempt to retain the advantages of synthetic colloids while deriving their propulsion from biological swimmers such as sperm and bacteria, offering the means for biocompatible swimming. In this Account, we will summarize our effort and those of other groups, in the design and development of self-propelled colloids of different structural properties and powered by different propulsion mechanisms. We will also briefly address the applications that have been proposed and, to some extent, demonstrated for these swimmer designs.

Bioengineered and biohybrid bacteria-based systems for drug delivery

The use of bacterial cells as agents of medical therapy has a long history. Research that was ignited over a century ago with the accidental infection of cancer patients has matured into a platform technology that offers the promise of opening up new potential frontiers in medical treatment. Bacterial cells exhibit unique characteristics that make them well-suited as smart drug delivery agents. Our ability to genetically manipulate the molecular machinery of these cells enables the customization of their therapeutic action as well as its precise tuning and spatio-temporal control, allowing for the design of unique, complex therapeutic functions, unmatched by current drug delivery systems. Early results have been promising, but there are still many important challenges that must be addressed. We present a review of promises and challenges of employing bioengineered bacteria in drug delivery systems and introduce the biohybrid design concept as a new additional paradigm in bacteria-based drug delivery.

Artificial Swimmers Propelled by Acoustically Activated Flagella

Recent studies have garnered considerable interest in the field of propulsion to maneuver micro- and nanosized objects. Acoustics provide an alternate and attractive method to generate propulsion. To date, most acoustic-based swimmers do not use structural resonances, and their motion is determined by a combination of bulk acoustic streaming and a standing-wave field. The resultant field is intrinsically dependent on the boundaries of their resonating chambers. Though acoustic based propulsion is appealing in biological contexts, existing swimmers are less efficient, especially when operating in vivo, since no predictable standing-wave can be established in a human body. Here we describe a new class of nanoswimmer propelled by the small-amplitude oscillation of a flagellum-like flexible tail in standing and, more importantly, in traveling acoustic waves. The artificial nanoswimmer, fabricated by multistep electrodeposition techniques, compromises a rigid bimetallic head and a flexible tail. During acoustic excitation of the nanoswimmer the tail structure oscillates, which leads to a large amplitude propulsion in traveling waves. FEM simulation results show that the structural resonances lead to high propulsive forces.

Rocket Science at the Nanoscale

Autonomous propulsion at the nanoscale represents one of the most challenging and demanding goals in nanotechnology. Over the past decade, numerous important advances in nanotechnology and material science have contributed to the creation of powerful self-propelled micro/nanomotors. In particular, micro- and nanoscale rockets (MNRs) offer impressive capabilities, including remarkable speeds, large cargo-towing forces, precise motion controls, and dynamic self-assembly, which have paved the way for designing multifunctional and intelligent nanoscale machines. These multipurpose nanoscale shuttles can propel and function in complex real-life media, actively transporting and releasing therapeutic payloads and remediation agents for diverse biomedical and environmental applications. This review discusses the challenges of designing efficient MNRs and presents an overview of their propulsion behavior, fabrication methods, potential rocket fuels, navigation strategies, practical applications, and the future prospects of rocket science and technology at the nanoscale.

From Nanomotors to Micromotors: The Influence of the Size of an Autonomous Bubble-Propelled Device upon Its Motion

Synthetic autonomously moving nano and micromotors are in the forefront of nanotechnology. Different sizes of nano and micromotors have been prepared, but the systematic study of the influence of their sizes on motion is lacking. We synthesized different sizes of tubular micro/nanomotors by membrane template-assisted electrodeposition. The influence of dimensions on the dynamics of micro/nanotubes was studied at a significantly reduced scale than rolled-up microtubes, down to the nanometer regime. Both the geometric parameters and the chemical environment can affect the dynamics of micro/nanotubes. The bubble size and ejection frequency were investigated in correlation with the velocity of micro/nanotubes. The comparison between different sizes of micro/nanotubes showed that geometric parameters of micro/nanotubes will influence the velocity of micro/nanotubes at moderate fuel concentrations. Furthermore, it also affects the activity of micro/nanotubes at low fuel concentrations and imposes limitations on the velocity at very high fuel concentrations. Nanotubes with nanometer-sized openings need a higher concentration of H2O2 to be activated. Larger tubes can possess a higher absolute value of velocity than smaller tubes, but do not necessarily have a higher velocity by body lengths per unit time. Insight into bubble ejection/propulsion cycle is also provided. The results presented here provide important implications for the consideration of dimensions in the fabrication of tubular micro/nanomotors.

Self-Propelled Micro-/Nanomotors Based on Controlled Assembled Architectures

Synthetic micro-/nanomotors (MNMs) are capable of performing self-propelled motion in fluids through harvesting different types of energies into mechanical movement, with potential applications in biomedicine and other fields. To address the challenges in these applications, a promising strategy that combines controlled assembly (bottom-up approaches) with top-down approaches for engineering autonomous, multifunctionalized MNMs is under investigation, beginning in 2012. These MNMs, derived from layer-by-layer assembly or molecular self-assembly, display the advantages of: i) mass production, ii) response to the external stimuli, and iii) access to multifunctionality, biocompatibility, and biodegradability. The advance on how to integrate diverse functional components into different architectures based on controlled assemblies, to realize controlled fabrication, motion control (including the movement speed, direction, and state), and biomedical applications of MNMs, directed by the concept of nanoarchitectonics, are highlighted here. The remaining challenges and future research directions are also discussed.

Micro and nanomotors in diagnostics

Synthetic micro/nanomotors are tiny devices than can be self-propelled or externally powered in the liquid phase by different types of energy source including but not limited to: catalytic, magnetic or acoustic. Showing a myriad of mechanical movements, building block materials, sizes, shapes and propulsion mechanisms micro/nanomotors are amenable to diagnostics and therapeutics. Herein we describe the most relevant micro/nanomotors, their fabrication pathways, propulsion strategies as well as in vivo and in vitro applications related with oligonucleotides, proteins, cells and tissues. We also discuss the main challenges in these applications such as the influence of complex media and toxicity issues as well as future perspectives.

3D-Printed Artificial Microfish

Hydrogel microfish featuring biomimetic structures, locomotive capabilities, and functionalized nanoparticles are engineered using a rapid 3D printing platform: microscale continuous -optical printing (μCOP). The 3D-printed -microfish exhibit chemically powered and magnetically guided propulsion, as well as highly efficient detoxification capabilities that highlight the technical versatility of this platform for engineering advanced functional microswimmers for diverse biomedical applications.