caa a22 4500 530098970 20181217030327.0 cr unu---uuuuu 181026e20160729xx s 000 0 eng 10.3929/ethz-b-000119305 doi 10.1038/srep30713 doi (ETHRESEARCH)oai:www.research-collection.ethz.ch:20.500.11850/119305 Fabrication and manipulation of ciliary microrobots with non-reciprocal magnetic actuation [Elektronische Daten] [Sangwon Kim, Seungmin Lee, Jeonghun Lee, Bradley J. Nelson, Li Zhang, Hongsoo Choi] Sci Rep Open access ethresearch 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. Creative Commons Attribution 4.0 International http://creativecommons.org/licenses/by/4.0 ethresearch Electrical and electronic engineering ethresearch Mechanical engineering ethresearch Kim Sangwon joint author Lee Seungmin joint author Lee Jeonghun joint author Nelson Bradley J. joint author Zhang Li joint author Choi Hongsoo joint author Scientific Reports London : Nature Publishing Group 6, p. 30713 2045-2322 http://hdl.handle.net/20.500.11850/119305 text/html WWW-Backlink auf das Repository (Open access) 1 Journal Article ethresearch ETHRESEARCH 856 40 http://hdl.handle.net/20.500.11850/119305 text/html WWW-Backlink auf das Repository (Open access) ETHRESEARCH 700 1- Kim Sangwon joint author ETHRESEARCH 700 1- Lee Seungmin joint author ETHRESEARCH 700 1- Lee Jeonghun joint author ETHRESEARCH 700 1- Nelson Bradley J. joint author ETHRESEARCH 700 1- Zhang Li joint author ETHRESEARCH 700 1- Choi Hongsoo joint author ETHRESEARCH 773 0- Scientific Reports London : Nature Publishing Group 6, p. 30713 2045-2322 BK010053 XK010053 XK010000 ETHRESEARCH ETHRESEARCH ETHRESEARCH Journal Article Open access