Kavli Affiliate: Felix Fischer
| First 5 Authors: Moonkwang Jeong, Xiangzhou Tan, Felix Fischer, Tian Qiu,
| Summary:
Small-scale robots hold great potential for targeted cargo delivery in
minimally-inv asive medicine. However, current robots often face challenges to
locomote efficiently on slip pery biological tissue surfaces, especially when
loaded with heavy cargos. Here, we report a magnetic millirobot that can walk
on rough and slippery biological tissues by anchoring itself on the soft tissue
surface alternatingly with two feet and reciprocally rotating the body to mov e
forward. We experimentally studied the locomotion, validated it with numerical
simulations and optimized the actuation parameters to fit various terrains and
loading conditions. Further more, we developed a permanent magnet set-up to
enable wireless actuation within a huma n-scale volume which allows precise
control of the millirobot to follow complex trajectories, cl imb vertical
walls, and carry cargo up to four times of its own weight. Upon reaching the
targ et location, it performs a deployment sequence to release the liquid drug
into tissues. The ro bust gait of our millirobot on rough biological terrains,
combined with its heavy load capacity, make it a versatile and effective
miniaturized vehicle for targeted cargo delivery.
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