A droplet robotic system enabled by electret-induced polarization on droplet

Robotics for scientific research are evolving from grasping macro-scale solid materials to directly actuating micro-scale liquid samples. However, current liquid actuation mechanisms often restrict operable liquid types or compromise the activity of biochemical samples by introducing interfering mediums. Here, we propose a robotic liquid handling system enabled by a novel droplet actuation mechanism, termed electret-induced polarization on droplet (EPD). EPD enables all-liquid actuation in principle and experimentally exhibits generality for actuating various inorganic/organic liquids with relative permittivity ranging from 2.25 to 84.2 and volume from 500 nL to 1 mL. Moreover, EPD is capable of actuating various biochemical samples without compromising their activities, including various body fluids, living cells, and proteins. A robotic system is also coupled with the EPD mechanism to enable full automation. EPD's high adaptability with liquid types and biochemical samples thus promotes the automation of liquid-based scientific experiments across multiple disciplines.

Scalable high-throughput microfluidic separation of magnetic microparticles

Surface-engineered magnetic microparticles are used in chemical and biomedical engineering due to their ease of synthesis, high surface-to-volume ratio, selective binding, and magnetic separation. To separate them from fluid suspensions, existing methods rely on the magnetic force introduced by the local magnetic field gradient. However, this strategy has poor scalability because the magnetic field gradient decreases rapidly as one moves away from the magnets. Here, we present a scalable high-throughput magnetic separation strategy using a rotating permanent magnet and two-dimensional arrays of micromagnets. Under a dynamic magnetic field, nickel micromagnets allow the surrounding magnetic microparticles to self-assemble into large clusters and effectively propel themselves through the flow. The collective speed of the microparticle swarm reaches about two orders of magnitude higher than the gradient-based separation method over a wide range of operating frequencies and distances from a rotating magnet.

Individual and collective manipulation of multifunctional bimodal droplets in three dimensions

Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.

Roadmap for Clinical Translation of Mobile Microrobotics

Medical microrobotics is an emerging field to revolutionize clinical applications in diagnostics and therapeutics of various diseases. On the other hand, the mobile microrobotics field has important obstacles to pass before clinical translation. This article focuses on these challenges and provides a roadmap of medical microrobots to enable their clinical use. From the concept of a "magic bullet" to the physicochemical interactions of microrobots in complex biological environments in medical applications, there are several translational steps to consider. Clinical translation of mobile microrobots is only possible with a close collaboration between clinical experts and microrobotics researchers to address the technical challenges in microfabrication, safety, and imaging. The clinical application potential can be materialized by designing microrobots that can solve the current main challenges, such as actuation limitations, material stability, and imaging constraints. The strengths and weaknesses of the current progress in the microrobotics field are discussed and a roadmap for their clinical applications in the near future is outlined.

Novel Operation Mechanism and Multifunctional Applications of Bubble Microrobots

Microrobots have emerged as powerful tools for manipulating particles, cells, and assembling biological tissue structures at the microscale. However, achieving precise and flexible operation of arbitrary-shaped microstructures in 3D space remains a challenge. In this study, three novel operation methods based on bubble microrobots are proposed to enable delicate and multifunctional manipulation of various microstructures. These methods include 3D turnover, fixed-point rotation, and 3D ejection. By harnessing the combined principles of the effect of the heat flow field and surface tension of an optothermally generated bubble, the bubble microrobot can perform tasks such as flipping an SIA humanoid structure, rotating a bird-like structure, and launching a hollow rocket-like structure. The proposed multi-mode operation of bubble microrobots enables diverse attitude adjustments of microstructures with different sizes and shapes in both 2D and 3D spaces. As a demonstration, a biological microenvironment of brain glioblastoma is constructed by the bubble microrobot. The simplicity, versatility, and flexibility of this proposed method hold great promise for applications in micromanipulation, assembly, and tissue engineering.

Permanent fluidic magnets for liquid bioelectronics

Brownian motion allows microscopically dispersed nanoparticles to be stable in ferrofluids, as well as causes magnetization relaxation and prohibits permanent magnetism. Here we decoupled the particle Brownian motion from colloidal stability to achieve a permanent fluidic magnet with high magnetization, flowability and reconfigurability. The key to create such permanent fluidic magnets is to maintain a stable magnetic colloidal fluid by using non-Brownian magnetic particles to self-assemble a three-dimensional oriented and ramified magnetic network structure in the carrier fluid. This structure has high coercivity and permanent magnetization, with long-term magnetization stability. We establish a scaling theory model to decipher the permanent fluid magnet formation criteria and formulate a general assembly guideline. Further, we develop injectable and retrievable permanent-fluidic-magnet-based liquid bioelectronics for highly sensitive, self-powered wireless cardiovascular monitoring. Overall, our findings highlight the potential of permanent fluidic magnets as an ultrasoft material for liquid devices and systems, from bioelectronics to robotics.

Droplet Manipulation on Bioinspired Slippery Surfaces: From Design Principle to Biomedical Applications

Droplet manipulation with high efficiency, high flexibility, and programmability, is essential for various applications in biomedical sciences and engineering. Bioinspired liquid-infused slippery surfaces (LIS), with exceptional interfacial properties, have led to expanding research for droplet manipulation. In this review, an overview of actuation principles is presented to illustrate how materials or systems can be designed for droplet manipulation on LIS. Recent progress on new manipulation methods on LIS is also summarized and their prospective applications in anti-biofouling and pathogen control, biosensing, and the development of digital microfluidics are presented. Finally, an outlook is made on the key challenges and opportunities for droplet manipulation on LIS.

On-chip droplet analysis and cell spheroid screening by capillary wrapping enabled shape-adaptive ferrofluid transporters

Non-invasive droplet manipulation with no physical damage to the sample is important for the practical value of manipulation tools in multidisciplinary applications from biochemical analysis and diagnostics to cell engineering. It is a challenge to achieve this for most existing photothermal, electric stimuli, and magnetic field-based technologies. Herein, we present a droplet handling toolbox, the ferrofluid transporter, for non-invasive droplet manipulation in an oil environment. It involves the transport of droplets with high robustness and efficiency owing to low interfacial friction. This capability caters to various scenarios including droplets with varying components and solid cargo. Moreover, we fabricated a droplet array by transporter positioning and achieved droplet gating and sorting for complex manipulation in the droplet array. Benefiting from the ease of scale-up and high biocompatibility, the transporter-based droplet array can serve as a digital microfluidic platform for on-chip droplet-based bioanalysis, cell spheroid culture, and downstream drug screening tests.

Light-Responsive Materials in Droplet Manipulation for Biochemical Applications

Miniaturized droplets, characterized by well-controlled microenvironments and capability for parallel processing, have significantly advanced the studies on enzymatic evolution, molecular diagnostics, and single-cell analysis. However, manipulation of small-sized droplets, including moving, merging, and trapping of the targeted droplets for complex biochemical assays and subsequent analysis, is not trivial and remains technically demanding. Among various techniques, light-driven methods stand out as a promising candidate for droplet manipulation in a facile and flexible manner, given the features of contactless interaction, high spatiotemporal resolution, and biocompatibility. This review therefore compiles an in-depth discussion of the governing mechanisms underpinning light-driven droplet manipulation. Besides, light-responsive materials, representing the core of light-matter interaction and the key character converting light into different forms of energy, are particularly assessed in this review. Recent advancements in light-responsive materials and the most notable applications are comprehensively archived and evaluated. Continuous innovations and rational engineering of light-responsive materials are expected to propel the development of light-driven droplet manipulation, equip droplets with enhanced functionality, and broaden the applications of droplets for biochemical studies and routine biochemical investigations.

Untethered Micro/Nanorobots for Remote Sensing: Toward Intelligent Platform

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities. Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems, enabling in situ detection of substances that traditional sensing methods struggle to achieve. Over the past decade of development, significant research progress has been made in designing sensing strategies based on micro/nanorobots, employing various coordinated control and sensing approaches. This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots, robot behavior, microrobotic manipulation, and robot-environment interactions. Providing recent studies and relevant applications in remote sensing, we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments, translating lab research achievements into widespread real applications.

A programmable ferrofluidic droplet robot

Soft miniature robots have wide potential applications in lab-on-a-chip and biomedical sciences due to their deformability, safety, and remarkable controllability. However, current ferrofluidic droplet robots have some problems, such as easy broken, limited motion range and high energy consumption. Therefore, the objective of this study is to propose a programmable ferrofluidic flexible droplet robot (PFDR) with control strategies for elongation, splitting and merging behaviors by designing an actuation system consisting of a row of electromagnets and a robotic arm or a coordinate robot. The PFDR can not only deform actively to prevent itself from breaking, but also deform passively to fit the profile of channels or tubes to move efficiently. The actuation system can make PFDR have larger motion range as well as lower energy consumption. The design concept and the operating principle of PFDR are presented. The magnetic actuation system is developed. The lag of PFDR is analyzed in theoretical and experimental ways. The splitting and merging behaviors are investigated and other functionalities are studied as well.

Programmable-Modulated Ultrasonic Transducer Array for Contactless Detection of Viral RNAs

The current polymerase chain reactions-based nucleic acid tests for large-scale infectious disease diagnosis are always lab-dependent and generate large amounts of highly infectious plastic waste. Direct non-linear acoustic driven of microdroplets provide an ideal platform for contactless spatial and temporal manipulation of liquid samples. Here, a strategy to programmable-manipulate microdroplets using potential pressure well for contactless trace detection is conceptualized and designed. On such contactless modulation platform, up to seventy-two piezoelectric transducers are precisely self-focusing single-axis arranged and controlled, which can generate dynamic pressure nodes for effectively contact-free manipulating microdroplets without vessel contamination. In addition, the patterned microdroplet array can act as contactless microreactor and allow multiple trace samples (1-5 µL) biochemical analysis, and the ultrasonic vortex can also accelerate non-equilibrium chemical reactions such as recombinase polymerase amplification (RPA). The results of fluorescence detection indicated that such programmable modulated microdroplet achieved contactless trace nucleic acid detection with a sensitivity of 0.21 copy µL-1 in only 6-14 min, which is 30.3-43.3% shorter than the conventional RPA approach. Such a programmable containerless microdroplet platform can be used for toxic, hazardous, or infectious samples sensing, opening up new avenues for developing future fully automated detection systems.

Horizontal and Vertical Coalescent Microrobotic Collectives Using Ferrofluid Droplets

Many artificial miniature robotic collectives have been developed to overcome the inherent limitations of inadequate individual capabilities. However, the basic building blocks of the reported collectives are mainly in the solid state, where the morphological boundaries of internal individuals are clear and cannot genuinely merge. Miniature robotic collectives based on liquid units still need to be explored; such on-demand mergeable swarm systems are advantageous for adapting to the changing external environment. Here, a strategy to achieve a coalescent collective system we presented that exploits the ferrofluid droplets' splitting and coalescence properties to trigger the formation of horizontal multimodal and vertical gravity-resistant collectives and unveil pattern-enabled robotic functionalities. When subjected to a time-varying magnetic field, the droplet swarm exhibits a variety of morphologies ranging from horizontal collectives, including vortex-like, chain-like, and crystal-like patterns to vertical layer-upon-layer patterns. Using experiments and simulations, the formation and transformation of different morphological collectives are shown and their robust environmental adaptability are demonstrated. Potential applications of the multimodal droplet collectives are presented, including exploring an unknown environment, targeted object delivery, and fluid flow filtration in a lab-on-a-chip. This work may facilitate the design of microrobotic swarm systems and expand the range of materials for miniature robots.

Delayed Hopf bifurcation and control of a ferrofluid interface via a time-dependent magnetic field

A ferrofluid droplet confined in a Hele-Shaw cell can be deformed into a stably spinning "gear," using crossed magnetic fields. Previously, fully nonlinear simulation revealed that the spinning gear emerges as a stable traveling wave along the droplet's interface bifurcates from the trivial (equilibrium) shape. In this work, a center manifold reduction is applied to show the geometrical equivalence between a two-harmonic-mode coupled system of ordinary differential equations arising from a weakly nonlinear analysis of the interface shape and a Hopf bifurcation. The rotating complex amplitude of the fundamental mode saturates to a limit cycle as the periodic traveling wave solution is obtained. An amplitude equation is derived from a multiple-time-scale expansion as a reduced model of the dynamics. Then, inspired by the well-known delay behavior of time-dependent Hopf bifurcations, we design a slowly time-varying magnetic field such that the timing and emergence of the interfacial traveling wave can be controlled. The proposed theory allows us to determine the time-dependent saturated state resulting from the dynamic bifurcation and delayed onset of instability. The amplitude equation also reveals hysteresislike behavior upon time reversal of the magnetic field. The state obtained upon time reversal differs from the state obtained during the initial (forward-time) period, yet it can still be predicted by the proposed reduced-order theory.

Large-Area Electronics-Enabled High-Resolution Digital Microfluidics for Parallel Single-Cell Manipulation

Large-area electronics as switching elements are an ideal option for electrode-array-based digital microfluidics. With support of highly scalable thin-film semiconductor technology, high-resolution digital droplets (diameter around 100 μm) containing single-cell samples can be manipulated freely on a two-dimensional plane with programmable addressing logic. In addition, single-cell generation and manipulation as foundations for single-cell research demand ease of operation, multifunctionality, and accurate tools. In this work, we reported an active-matrix digital microfluidic platform for single-cell generation and manipulation. The active device contained 26,368 electrodes that could be independently addressed to perform parallel and simultaneous droplet generation and achieved single-cell manipulation. We demonstrate a high-resolution digital droplet generation with a droplet volume limit of 500 pL and show the continuous and stable movement of droplet-contained cells for over 1 h. Furthermore, the success rate of single droplet formation was higher than 98%, generating tens of single cells within 10 s. In addition, a pristine single-cell generation rate of 29% was achieved without further selection procedures, and the droplets containing single cells could then be tested for on-chip cell culturing. After 20 h of culturing, about 12.5% of the single cells showed cell proliferation.

Overflow Control for Sustainable Development by Superwetting Surface with Biomimetic Structure

Liquid flowing around a solid edge, i.e., overflow, is a commonly observed flow behavior. Recent research into surface wetting properties and microstructure-controlled overflow behavior has attracted much attention. Achieving controllable macroscale liquid dynamics by manipulating the micro-nanoscale liquid overflow has stimulated diverse scientific interest and fostered widespread use in practical applications. In this review, we outline the evolution of overflow and present a critical survey of the mechanism of surface wetting properties and microstructure-controlled liquid overflow in multilength scales ranging from centimeter to micro and even nanoscale. We summarize the latest progress in utilizing the mechanisms to manipulate liquid overflow and achieve macroscale liquid dynamics and in emerging applications to manipulate overflow for sustainable development in various fields, along with challenges and perspectives.

Robotic digital microfluidics: a droplet-based total analysis system

Developing automated platforms for point-of-need testing is a crucial global demand. Digital microfluidics is a promising solution for expanding integrated testing devices featuring ultimate control over the chemical and biological reactions in micro/nanoliter droplets. In this study, robotic digital microfluidics (RDMF) is introduced for the mechanical manipulation of the droplets precisely and inexpensively. A controllable and multifunctional arm equipped with several actuators is responsible for dispensing and manipulating droplets on a disposable superhydrophobic cartridge. The platform has been demonstrated with diverse functions, including droplet dispensing, transport, mixing, aliquoting, and splitting. Moreover, incorporating magnetic and heating modules into the system can realize particle manipulation and droplet heating. The liquid handling operations are investigated from both experimental and modeling perspectives. Handling a wide range of droplet sizes without needing high-voltage electric sources, integrability with different detection techniques, and ease of manufacturing are the main advantages of the RDMF platform compared to conventional digital microfluidic systems. The availability of a complete fluidic toolbox and multiple detection choices make RDMF promising for droplet-based total analysis technology. The system was applied for a urinalysis test to show its versatility in handling complex biochemical assays. The results entirely matched those obtained based on laboratory gold standard techniques.

Exploiting ferrofluidic wetting for miniature soft machines

Miniature magnetic soft machines could significantly impact minimally invasive robotics and biomedical applications. However, most soft machines are limited to solid magnetic materials, whereas further progress also relies on fluidic constructs obtained by reconfiguring liquid magnetic materials, such as ferrofluid. Here we show how harnessing the wettability of ferrofluids allows for controlled reconfigurability and the ability to create versatile soft machines. The ferrofluid droplet exhibits multimodal motions, and a single droplet can be controlled to split into multiple sub-droplets and then re-fuse back on demand. The soft droplet machine can negotiate changing terrains in unstructured environments. In addition, the ferrofluid droplets can be configured as a liquid capsule, enabling cargo delivery; a wireless omnidirectional liquid cilia matrix capable of pumping biofluids; and a wireless liquid skin, allowing multiple types of miniature soft machine construction. This work improves small magnetic soft machines' achievable complexity and boosts their future biomedical applications capabilities.

Ferrobotic swarms enable accessible and adaptable automated viral testing

Expanding our global testing capacity is critical to preventing and containing pandemics^1–9. Accordingly, accessible and adaptable automated platforms that in decentralized settings perform nucleic acid amplification tests resource-efficiently are required^10–14. Pooled testing can be extremely efficient if the pooling strategy is based on local viral prevalence^15–20; however, it requires automation, small sample volume handling and feedback not available in current bulky, capital-intensive liquid handling technologies^21–29. Here we use a swarm of millimetre-sized magnets as mobile robotic agents (‘ferrobots’) for precise and robust handling of magnetized sample droplets and high-fidelity delivery of flexible workflows based on nucleic acid amplification tests to overcome these limitations. Within a palm-sized printed circuit board-based programmable platform, we demonstrated the myriad of laboratory-equivalent operations involved in pooled testing. These operations were guided by an introduced square matrix pooled testing algorithm to identify the samples from infected patients, while maximizing the testing efficiency. We applied this automated technology for the loop-mediated isothermal amplification and detection of the SARS-CoV-2 virus in clinical samples, in which the test results completely matched those obtained off-chip. This technology is easily manufacturable and distributable, and its adoption for viral testing could lead to a 10–300-fold reduction in reagent costs (depending on the viral prevalence) and three orders of magnitude reduction in instrumentation cost. Therefore, it is a promising solution to expand our testing capacity for pandemic preparedness and to reimagine the automated clinical laboratory of the future.

A handheld printed circuit board-based programmable platform using ferrobots can perform the complex, laboratory-equivalent procedures involved in multiplexed and pooled nucleic acid amplification testing, allowing for the decentralization of viral diagnostics.

Magnetic vitrimer-based soft robotics

Magnetically responsive elastomers, consisting of elastomer embedded with magnetic particles, can produce fast and reversible actuation when subjected to a magnetic field. They have been extensively explored to construct versatile remotely controllable soft robots. Nevertheless, the magnetically induced actuation strain in elastomers is typically small, which limits its broad applications. Recently, magnetic particles have been mixed with viscous fluids to enable giant magnetically induced deformations. However, their response speed is slow and the actuation is usually irreversible. In this work, we have developed a magnetic vitrimer (MV), with magnetic particles mixed with the polymer network containing abundant dynamic covalent bonds. At room temperature, the MV behaves like a regular magnetically responsive elastomer. When the temperature is elevated to the exchange reaction temperature of the dynamic covalent bonds, the material behaves like a viscous magnetically responsive fluid, which can produce large deformations. The embedded magnetic particles and the vitrimer matrix also make the material self-healable without requiring any direct touch. We have demonstrated that with the guidance of an externally applied magnetic field, a MV-based soft robot can pass through a confined space, dramatically change its configuration, self-heal without any contact, catch, secure and release a fast-moving object, and move along a planned path.

Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces

Magnetic miniature soft robots have shown great potential for facilitating biomedical applications by minimizing invasiveness and possible physical damage. However, researchers have mainly focused on fixed-size robots, with their active locomotion accessible only when the cross-sectional dimension of these confined spaces is comparable to that of the robot. Here, we realize the scale-reconfigurable miniature ferrofluidic robots (SMFRs) based on ferrofluid droplets and propose a series of control strategies for reconfiguring SMFR's scale and deformation to achieve trans-scale motion control by designing a multiscale magnetic miniature robot actuation (M³RA) system. The results showed that SMFRs, varying from centimeters to a few micrometers, leveraged diverse capabilities, such as locomotion in structured environments, deformation to squeeze through gaps, and even reversible scale reconfiguration for navigating sharply variable spaces. A miniature robot system with these capabilities combined is promising to be applied in future wireless medical robots inside confined regions of the human body.

Field-controlled flow and shape of a magnetorheological fluid annulus

We investigate the behavior of a magnetorheological (MR) fluid annulus, bounded by a nonmagnetic fluid and confined in a Hele-Shaw cell, under the simultaneous effect of in-plane, external radial and azimuthal magnetic fields. A second-order mode-coupling theory is used to study the early nonlinear stage of the pattern-forming dynamics. We examine changes in the morphology of the MR fluid annular structure as a function of its magnetic-field-tunable rheological properties, as well as the combined magnetic field's intensities, and thickness of the ring. Our weakly nonlinear perturbative results show that, depending on the system control parameters, the MR fluid annulus adopts various stationary shapes. These equilibrium annular structures present slightly bent, asymmetric fingered protrusions which may emerge on the inner, outer, or even on both boundaries of the magnetic fluid ring. On top of these morphological changes, we find that the resulting permanent shape patterns rotate with a well defined angular velocity. We focus on analyzing how the overall shape of the fingered patterns, in particular their sharpness and asymmetric form, as well as the number of resulting fingers are impacted by the magnetic-field-dependent yield stress of the MR fluid annulus. The influence of the magnetically controlled rheological properties of the MR fluid on the angular velocity of the rotating annulus is also scrutinized.

Solid-Liquid State Transformable Magnetorheological Millirobot

Magnetically actuated soft millirobots (magneto-robot) capable of accomplishing on-demand tasks in a remote-control manner using noninvasive magnetic fields are of great interest in biomedical settings. However, the solid magneto-robots are usually restricted by the limited deformability due to the predesigned shape, while the liquid magneto-robots are capable of in situ shape reconfiguration but limited by the low stiffness and geometric instability due to the fluidity. Herein, we propose a magneto-active solid-liquid state transformable millirobot (named MRF-Robot) made from a magnetorheological fluid (MRF). The MRF-Robot can transform freely and rapidly between the Newtonian fluid in the liquid state upon a weak magnetic field (∼0 mT) and the Bingham plasticity in the solid state upon a strong magnetic field (∼100 mT). The MRF-Robot in the liquid state can realize diverse behaviors of large deformation, smooth navigation, in situ splitting, merging, and gradient pulling actuated by a weak magnetic field with a high gradient. The MRF-Robot in the solid state is distinguished for the controllable locomotion with reconfigured shapes and versatile object manipulations (including pull, push, and rotate the objects) driven by a strong magnetic field with a high gradient. Moreover, the MRF-Robot could continuously maneuver to accomplish diverse tasks in the comprehensive scenes and achieve liquid-drug delivery, thrombus clearance, and fluid-flow blockage in the phantom vascular model under magnetic actuation.

Light-Fueled Submarine-Like Droplet

Flexibly and precisely manipulating 3D droplet transportation is a fundamental challenge for broad implications in diagnostics, drug delivery, bioengineering, etc. Herein, a light method is developed for manipulating a droplet to make it behave like a submarine. This light method enables flexible 3D transportation, stable suspension, and floating of a droplet, which can be freely altered. It is demonstrated that the localized photothermal effect induced thermocapillary flow in the water droplet/oil phase is responsible for energizing and manipulating the droplet. With such remarkable motility, the light-fueled submarine-like droplet successfully realizes various functions such as the acid-base detection, particle capture and transportation, and target crystal collection, dissolution and transportation. It is demonstrated that the light-fueled submarine-like droplet shows promising perspective for long-sought precise droplet manipulation in various applications.

Bioinspired Anisotropic Slippery Cilia for Stiffness-Controllable Bubble Transport

Bubbles play a crucial role in multidisciplinary industrial applications, e.g., heat transfer and mass transfer. However, existing methods to manipulate bubbles still face many challenges, such as buoyancy inhibition, hydrostatic pressure, gas dissolving, easy deformability, and so on. To circumvent these constraints, here we develop a bioinspired anisotropic slippery cilia surface to achieve an elegant bubble transport by tuning its elastic modulus, which results from the different contacts of bubbles with cilia, i.e., soft cilia will be easily bent by the bubble motion, while hard cilia will pierce into the bubble, consequently leading to the asymmetric three-phase contact line and resistance force. Moreover, a real-time and arbitrarily directional bubble manipulation is also demonstrated by applying an external magnetic field, enabling the scalable operation of bubbles in a remote manner. Our work exhibits a strategy of regulating bubble behavior smartly, which will update a wide range of gas-related sciences or technologies including gas evolution reactions, heat transfer, microfluidics, and so on.

Microfluidic Sampling and Biosensing Systems for Foodborne Escherichia coli and Salmonella

Developments of portable biosensors for field-deployable detections have been increasingly important to control foodborne pathogens in regulatory environment and in early stage of outbreaks. Conventional cultivation and gene amplification methods require sophisticated instruments and highly skilled professionals; while portable biosensing devices provide more freedom for rapid detections not only in research laboratories but also in the field; however, their sensitivity and specificity are limited. Microfluidic methods have the advantage of miniaturizing instrumental size while integrating multiple functions and high-throughput capability into one streamlined system at low cost. Minimal sample consumption is another advantage to detect samples in different sizes and concentrations, which is important for the close monitoring of pathogens at consumer end. They improve measurement or manipulation of bacteria by increasing the ratio of functional interface of the device to the targeted biospecies and in turn reducing background interference. This article introduces the major active and passive microfluidic devices that have been used for bacteria sampling and biosensing. The emphasis is on particle-based sorting/enrichment methods with or without external physical fields applied to the microfluidic devices and on various biosensing applications reported for bacteria sampling. Three major fabrication methods for microfluidics are briefly discussed with their advantages and limitations. The applications of these active and passive microfluidic sampling methods in the past 5 years have been summarized, with the focus on Escherichia coli and Salmonella. The current challenges to microfluidic bacteria sampling are caused by the small size and nonspherical shape of various bacterial cells, which can induce unpredictable deviations in sampling and biosensing processes. Future studies are needed to develop rapid prototyping methods for device manufacturing, which can facilitate rapid response to various foodborne pathogen outbreaks.

Three-Dimensional Droplet Manipulation with Electrostatic Levitation

An active and precise method for three-dimensional (3D) droplet manipulation is introduced. By modulating the local electrostatic force acting on droplets in carrier oil between needle plate electrodes, the vertical motion of droplets can be controlled, including the droplet levitation at the interface between the carrier oil and the air. Levitated droplets can be translated horizontally with high efficiency by the motion of the needle electrode. With controllable local deformation on the flexible plate electrode, selective manipulation can be realized for multiple droplets. Applying the manipulation method proposed, a platform is built and various droplet handling, such as transport, merging, and mixing, is performed effectively. Complex droplet transport trajectories are achieved by moving the needle electrode. The droplet transport velocity can reach up to 37 mm/s. The introduced method has fundamental advantages of avoiding cross-contamination between droplets, enhancing the flexibility, eliminating the transport track constraint, and lowering costs with straightforward and precise droplet manipulation.

Reconfigurable Magnetic Liquid Metal Robot for High-Performance Droplet Manipulation

Droplet manipulation is crucial for diverse applications ranging from bioassay to medical diagnosis. Current magnetic-field-driven manipulation strategies are mainly based on fixed or partially tunable structures, which limits their flexibility and versatility. Here, a reconfigurable magnetic liquid metal robot (MLMR) is proposed to address these challenges. Diverse droplet manipulation behaviors including steady transport, oscillatory transport, and release can be achieved by the MLMR, and their underlying physical mechanisms are revealed. Moreover, benefiting from the magnetic-field-induced active deformability and temperature-induced phase transition characteristics, its droplet-loading capacity and shape-locking/unlocking switching can be flexibly adjusted. Because of the fluidity-based adaptive deformability, MLMR can manipulate droplets in challenging confined environments. Significantly, MLMR can accomplish cooperative manipulation of multiple droplets efficiently through on-demand self-splitting and merging. The high-performance droplet manipulation using the reconfigurable and multifunctional MLMR unfolds new potential in microfluidics, biochemistry, and other interdisciplinary fields.

Ferrofluid annulus in crossed magnetic fields

We study the dynamics and pattern formation of a ferrofluid annulus enveloped by two nonmagnetic fluids in a Hele-Shaw cell, subjected to an in-plane crossed magnetic field configuration involving the combination of radial and azimuthal magnetic fields. A perturbative, second-order mode-coupling analysis is employed to investigate how the ferrofluid annulus responds to variations in the relative strength of the radial and azimuthal magnetic field components, as well as in the thickness of magnetic fluid ring. By tuning the magnetic field components and the annulus' thickness, we have found the development of several stationary annular shapes, presenting polygon-shaped structures typically having skewed, peaked fingers. Such fingered structures may vary their skewness, sharpness, and number and arise on the inner, outer, or even both boundaries of the annulus. In addition to controlling the morphologies of the ferrofluid annuli, the external field can be used to put the annulus into a rotational motion, with an angular velocity having prescribed magnitude, and direction. Our second-order theory is utilized to obtain a correction to the linear stability analysis prediction of such angular velocity, usually resulting in a decreased weakly nonlinear value as compared with the magnitude predicted by purely linear theory. These theoretical results suggest the use of magnetic-field-controlled ferrofluid annuli in Hele-Shaw cells as a potential laboratory for microscale applications related to the manipulation of shape-programmable magnetic fluid objects and tunable fluidic-mixing devices in confined environments.

Ferrofluids and bio-ferrofluids: looking back and stepping forward

Ferrofluids investigated along for about five decades are ultrastable colloidal suspensions of magnetic nanoparticles, which manifest simultaneously fluid and magnetic properties. Their magnetically controllable and tunable feature proved to be from the beginning an extremely fertile ground for a wide range of engineering applications. More recently, biocompatible ferrofluids attracted huge interest and produced a considerable increase of the applicative potential in nanomedicine, biotechnology and environmental protection. This paper offers a brief overview of the most relevant early results and a comprehensive description of recent achievements in ferrofluid synthesis, advanced characterization, as well as the governing equations of ferrohydrodynamics, the most important interfacial phenomena and the flow properties. Finally, it provides an overview of recent advances in tunable and adaptive multifunctional materials derived from ferrofluids and a detailed presentation of the recent progress of applications in the field of sensors and actuators, ferrofluid-driven assembly and manipulation, droplet technology, including droplet generation and control, mechanical actuation, liquid computing and robotics.

Wetting ridge assisted programmed magnetic actuation of droplets on ferrofluid-infused surface

Flexible actuation of droplets is crucial for biomedical and industrial applications. Hence, various approaches using optical, electrical, and magnetic forces have been exploited to actuate droplets. For broad applicability, an ideal approach should be programmable and be able to actuate droplets of arbitrary size and composition. Here we present an "additive-free" magnetic actuation method to programmably manipulate droplets of water, organic, and biological fluids of arbitrary composition, as well as solid samples, on a ferrofluid-infused porous surface. We specifically exploit the spontaneously formed ferrofluid wetting ridges to actuate droplets using spatially varying magnetic fields. We demonstrate programmed processing and analysis of biological samples in individual drops as well as the collective actuation of large ensembles of micrometer-sized droplets. Such model respiratory droplets can be accumulated for improved quantitative and sensitive bioanalysis - an otherwise prohibitively difficult task that may be useful in tracking coronavirus.

Recent advances in magnetic digital microfluidic platforms

Magnetic Digital microfluidics (DMF), which enables the manipulation of droplets containing different types of samples and reagents by permanent magnets or electromagnet arrays, has been used as a promising platform technology for bioanalytical and preparative assays. This is due to its unique advantages such as simple and "power free" operation, easy assembly, great compatibility with auto control systems, and dual functionality of magnetic particles (actuation and target attachment). Over the past decades, magnetic DMF technique has gained a widespread attention in many fields such as sample-to-answer molecular diagnostics, immunoassays, cell assays, on-demand chemical synthesis, and single-cell manipulation. In the first part of this review, we summarised features of magnetic DMF. Then, we introduced the actuation mechanisms and fabrication of magnetic DMF. Furthermore, we discussed five main applications of magnetic DMF, namely drug screening, protein assays, polymerase chain reaction (PCR), cell manipulation, and chemical analysis and synthesis. In the last part of the review, current challenges and limitations with magnetic DMF technique were discussed, such as biocompatibility, automation of microdroplet control systems, and microdroplet evaporation, with an eye on towards future development.

Synchronous control of magnetic particles and magnetized cells in a tri-axial magnetic field

Precise manipulation of single particles is one of the main goals in the lab-on-a-chip field. Here, we present a microfluidic platform with "T" and "I" shaped magnetic tracks on the substrate to transport magnetic particles and magnetized cells in a tri-axial time-varying magnetic field. The driving magnetic field is composed of a vertical field bias and an in-plane rotating field component, with the advantage of lowering the attraction tendency and cluster formation between the particles compared to the traditional magnetophoretic circuits. We demonstrate three fundamental achievements. First, all the particle movements are synced with the external rotating field to achieve precise control over individual particles. Second, single-particle and single living cell transport in a controlled fashion is achieved for a large number of them in parallel, without the need for a complicated control system to send signals to individual particles. We carefully study the proposed design and introduce proper operating parameters. Finally, in addition to moving the particles along straight tracks, transporting them using a ∼60° bend is demonstrated. The proposed chip has direct applications in the fields of lab-on-a-chip, single-cell biology, and drug screening, where precise control over single particles is needed.

Integrated Assembly and Flexible Movement of Microparts Using Multifunctional Bubble Microrobots

Industrial robots have been widely used for manufacturing and assembly in factories. However, at the microscale, most assembly technologies can only pattern the micromodules together loosely and can hardly combine the micromodules to directly form an entity that cannot be easily dispersed. In this study, surface bubbles are made to function as microrobots on a chip. These microrobots can move, fix, lift, and drop microparts and integratively assemble them into a tightly connected entity. As an example, the assembly of a pair of microparts with dovetails is considered. A jacklike bubble robot is used to lift and drop a micropart with a tail, whereas a mobile microrobot is used to push the other micropart with the corresponding socket to the proper position so that the tail can be inserted into the socket. The assembled microparts with the tail-socket joint can move as an entity without separation. Similarly, different types of parts are integratively assembled to form various structures such as gears, snake-shaped chains, and vehicles, which are then driven by bubble microrobots to perform different forms of movement. This assembly technology is simple and efficient and is expected to play an important role in micro-operation, modular assembly, and tissue engineering.

Reconfigurable multifunctional ferrofluid droplet robots

Magnetically actuated miniature soft robots are capable of programmable deformations for multimodal locomotion and manipulation functions, potentially enabling direct access to currently unreachable or difficult-to-access regions inside the human body for minimally invasive medical operations. However, magnetic miniature soft robots are so far mostly based on elastomers, where their limited deformability prevents them from navigating inside clustered and very constrained environments, such as squeezing through narrow crevices much smaller than the robot size. Moreover, their functionalities are currently restricted by their predesigned shapes, which is challenging to be reconfigured in situ in enclosed spaces. Here, we report a method to actuate and control ferrofluid droplets as shape-programmable magnetic miniature soft robots, which can navigate in two dimensions through narrow channels much smaller than their sizes thanks to their liquid properties. By controlling the external magnetic fields spatiotemporally, these droplet robots can also be reconfigured to exhibit multiple functionalities, including on-demand splitting and merging for delivering liquid cargos and morphing into different shapes for efficient and versatile manipulation of delicate objects. In addition, a single-droplet robot can be controlled to split into multiple subdroplets and complete cooperative tasks, such as working as a programmable fluidic-mixing device for addressable and sequential mixing of different liquids. Due to their extreme deformability, in situ reconfigurability and cooperative behavior, the proposed ferrofluid droplet robots could open up a wide range of unprecedented functionalities for lab/organ-on-a-chip, fluidics, bioengineering, and medical device applications.

Three-dimensional independent control of multiple magnetic microrobots via inter-agent forces

This article presents a method to independently control the position of multiple microscale magnetic robots in three dimensions, operating in close proximity to each other. Having multiple magnetic microrobots work together in close proximity is difficult due to magnetic interactions between the robots, and here we aim to control those interactions for the creation of desired multi-agent formations in three dimensions. Based on the fact that all magnetic agents orient to the global input magnetic field, the local attraction–repulsion forces between nearby agents can be regulated. For the first time, 3D manipulation of two microgripping magnetic microrobots is demonstrated. We also mathematically and experimentally prove that the center-of-mass external magnetic pulling of the multi-agent system is possible in three dimensions with an underactuated magnetic field generator. Here we utilize the controlled interaction magnetic forces between two spherical agents to steer them along two prescribed paths. We apply our method to independently control the motion of a pair of magnetic microgrippers as functional microrobot candidates each equipped with a five-degree-of-freedom motion mechanism and a grasp–release mechanism for targeted cargo delivery. A proportional controller and an optimization-based controller are introduced and compared, with potential to control more than two magnetic agents in three dimensions. Average tracking errors of less than 141 and 165 micrometers are accomplished for the regulation of agents’ positions using optimization-based and proportional controllers, respectively, for spherical agents with approximate nominal radius of 500 micrometers operating within several body-lengths of each other.

High-Efficiency Production of Radiopharmaceuticals via Droplet Radiochemistry: A Review of Recent Progress

New platforms are enabling radiochemistry to be carried out in tiny, microliter-scale volumes, and this capability has enormous benefits for the production of radiopharmaceuticals. These droplet-based technologies can achieve comparable or better yields compared to conventional methods, but with vastly reduced reagent consumption, shorter synthesis time, higher molar activity (even for low activity batches), faster purification, and ultra-compact system size. We review here the state of the art of this emerging direction, summarize the radiotracers and prosthetic groups that have been synthesized in droplet format, describe recent achievements in scaling up activity levels, and discuss advantages and limitations and the future outlook of these innovative devices.