7 accepted papers
Alginate hydrogels are widely researched in phar-maceutical applications for their abilities to encapsulate and dis-perse therapeutics in response to stimuli. While effective, their utility can be greatly improved once converted into artificial cell soft-microrobots, allowing them to actively naviga…
This paper presents an adaptive backstepping controller for the reference tracking of an alginate artificial cell. An adaptive controller was implemented to precisely manipulate a magnetic artificial cell actuated by rotating magnetic fields. The rolling motion of a small-scale robot in a fluidic en…
Magnetic millirobots can be controlled remotely by external magnetic fields, making them promising candidates for biomedical and engineering applications. This letter presents a low-cost millirobot that is simple in design, easy to fabricate, highly scalable, and can be used as modular sub-units wit
The modular assembly and actuation of 3D printed milliscale cuboid robots using a globally applied magnetic field is presented. Cuboids are composed of a rectangular resin shell embedded with two spherical permanent magnets that can independently align with any applied magnetic field. Placing cuboid…
This paper presents scalable designs and fabrication, actuation, and manipulation techniques for soft millirobots under uniform magnetic field control. The millirobots were fabricated through an economic and robust moulding technique using polydimethylsiloxane (PDMS), acrylonitrile butadiene styrene…
This article discusses the design, modeling, and application of a powerful hexapole magnetic tweezer system for closed-loop 3D swarm control applications. The system consists of six sharp tapered magnetic poles that are integrated with six electromagnetic coils and mounted on two yokes composed of 3
This paper presents 2D feedback control and open loop 3D trajectories of heterogeneous chemically catalyzing Janus particles. Self-actuated particles have enormous implications for both in vivo and in vitro environments, which make them a diverse resource for a variety of medical and assembly applic…