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Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
We experimentally study a scallop-like swimmer with reciprocally flapping wings in a nearly frictionless, cohesive granular medium consisting of hydrogel spheres. Significant locomotion is found when the swimmer's flapping frequency matches…
The dynamics and motion of multi-ciliated microswimmers with a spherical body and a small number N (with 5 < N < 60) of cilia with length comparable to the body radius, is investigated by mesoscale hydrodynamics simulations. A metachronal…
The field of active matter in general and microswimming in particular has experienced a rapid and ongoing expansion over the last decade. A particular interesting aspect is provided by artificial autonomous microswimmers constructed from…
The optical properties of some nanomaterials can be controlled by an external magnetic field, providing active functionalities for a wide range of applications, from single-molecule sensing to nanoscale nonreciprocal optical isolation.…
Spin superfluidity, i.e., coherent spin transport mediated by topologically stable textures, is limited by parasitic anisotropies rooted in relativistic interactions and spatial inhomogeneities. Since structural disorder in amorphous…
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers such as the FRISHBot, WaterStrider,…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
Systemic drug administration often causes off-target effects limiting the efficacy of advanced therapies. Targeted drug delivery approaches increase local drug concentrations at the diseased site while minimizing systemic drug exposure. We…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
Magnetic nanogels (MNG) -- soft colloids made of polymer matrix with embedded in it magnetic nanoparticles (MNPs) -- are promising magneto-controllable drug carriers. In order to develop this potential, one needs to clearly understand the…
We investigate a self-organized swimmer at low Reynolds numbers. The microscopic swimmer is composed of three spheres that are connected by two identical active linker arms. Each linker arm contains molecular motors and elastic elements and…
In nature, metachronal coordination is an efficient strategy for fluid pumping and self-propulsion. Yet, mimetic systems for this type of organization are scarce. Recently, metachronal motion was observed in a bead-based magnetocapillary…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
In analogy with electromagnetic networks which connect multiple input-output ports, metasurfaces can be considered as multi-port devices capable of providing different functionalities for waves of different polarizations illuminating the…
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency…
Non-reciprocal transmission of motion is potentially highly beneficial to a wide range of applications, ranging from wave guiding, to shock and vibration damping and energy harvesting. To date, large levels of non-reciprocity have been…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Swimming cells and microorganisms must often move though complex fluids that contain an immersed microstructure such as polymer molecules, or filaments. In many important biological processes, such as mammalian reproduction and bacterial…