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Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Micromotors pushed by biological entities, like motile bacteria, constitute a fascinating way to convert chemical energy into mechanical work at the micrometer scale. Here we show, by using numerical simulations, that a properly designed…
Propulsion of the chiral magnetic nanomotors powered by a rotating magnetic field is in the focus of the modern biomedical applications. This technology relies on strong interaction of dynamic and magnetic degrees of freedom of the system.…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
Physics governing the locomotion of microorganisms and other microsystems is dominated by viscous damping. An effective swimming strategy involves the non-reciprocal and periodic deformations of the considered body. Here, we show that a…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
Various microorganisms and some mammalian cells are able to swim in viscous fluids by performing nonreciprocal body deformations, such as rotating attached flagella or by distorting their entire body. In order to perform chemotaxis, i.e. to…
- In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…
Vascular diseases such as atherosclerosis, thrombosis, and aneurysms can lead to life-threatening medical events. Conventional catheter- or guidewire-based interventional devices often struggle to navigate through highly tortuous…
One of the major challenges in modern robotics is controlling micromanipulation by active and adaptive materials. In the respiratory system, such actuation enables pathogen clearance by means of motile cilia. While various types of…
Modular microrobotics can potentially address many information-intensive microtasks in medicine, manufacturing and the environment. However, surface area has limited the natural powering, communication, functional integration, and…
Metamaterials provide exceptional control over physical phenomena, enabling many disruptive technologies. However, researches in hydrodynamic meta-devices have mainly used intrusive methods to manipulate material structures, limited by…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…
The collective swimming of soft robots in an infinite viscous fluid is an emergent phenomenon due to the non-reciprocal hydrodynamic interactions between individual swimmers. These physical interactions give rise to unique spatiotemporal…
Microscopic artificial swimmers have recently become highly attractive due to their promising potential for biomedical applications. The pioneering work of Dreyfus et al (2005) has demonstrated the motion of a microswimmer with an…
This research develops a novel sensor for aquatic robots inspired by the whiskers of harbor seals. This sensor can detect the movement of water, offering valuable data on speed, currents, barriers, and water disturbance. It employs a…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
A system of ferromagnetic particles trapped at a liquid-liquid interface and subjected to a set of magnetic fields (magnetocapillary swimmers) is studied numerically using a hybrid method combining the pseudopotential lattice Boltzmann…