title: Fabrication and Manipulation of Ciliary Microrobots with Non-reciprocal Magnetic Actuation.
abstract: Magnetically actuated ciliary microrobots were designed, fabricated, and manipulated to mimic cilia-based microorganisms such as paramecia. Full three-dimensional (3D) microrobot structures were fabricated using 3D laser lithography to form a polymer base structure. A nickel/titanium bilayer was sputtered onto the cilia part of the microrobot to ensure magnetic actuation and biocompatibility. The microrobots were manipulated by an electromagnetic coil system, which generated a stepping magnetic field to actuate the cilia with non-reciprocal motion. The cilia beating motion produced a net propulsive force, resulting in movement of the microrobot. The magnetic forces on individual cilia were calculated with various input parameters including magnetic field strength, cilium length, applied field angle, actual cilium angle, etc., and the translational velocity was measured experimentally. The position and orientation of the ciliary microrobots were precisely controlled, and targeted particle transportation was demonstrated experimentally.
authors.affiliation: Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|DGIST-ETH Microrobot Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.
authors.forename: Sangwon
authors.initials: S
authors.lastname: Kim
authors.affiliation: Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|DGIST-ETH Microrobot Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.
authors.forename: Seungmin
authors.initials: S
authors.lastname: Lee
authors.affiliation: Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|DGIST-ETH Microrobot Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.
authors.forename: Jeonghun
authors.initials: J
authors.lastname: Lee
authors.affiliation: Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|DGIST-ETH Microrobot Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland.
authors.forename: Bradley J
authors.initials: BJ
authors.lastname: Nelson
authors.affiliation: Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin NT, Hong Kong SAR, China.
authors.forename: Li
authors.initials: L
authors.lastname: Zhang
authors.affiliation: Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.|DGIST-ETH Microrobot Research Center, Daegu Gyeongbuk Institute of Science and Technology (DGIST), 711-873, Daegu, South Korea.
authors.forename: Hongsoo
authors.initials: H
authors.lastname: Choi