Navigation and Control of Motion Modes with Soft Microrobots at Low Reynolds Numbers.

This study investigates the motion characteristics of soft alginate microrobots in complex fluidic environments utilizing wireless magnetic fields for actuation. The aim is to explore the diverse motion modes that arise due to shear forces in viscoelastic fluids by employing snowman-shaped microrobots. Polyacrylamide (PAA), a water-soluble polymer, is used to create a dynamic environment with non-Newtonian fluid properties. Microrobots are fabricated via an extrusion-based microcentrifugal droplet method, successfully demonstrating the feasibility of both wiggling and tumbling motions. Specifically, the wiggling motion primarily results from the interplay between the viscoelastic fluid environment and the microrobots' non-uniform magnetization. Furthermore, it is discovered that the viscoelasticity properties of the fluid influence the motion behavior of the microrobots, leading to non-uniform behavior in complex environments for microrobot swarms. Through velocity analysis, valuable insights into the relationship between applied magnetic fields and motion characteristics are obtained, facilitating a more realistic understanding of surface locomotion for targeted drug delivery purposes while accounting for swarm dynamics and non-uniform behavior.

Spontaneous symmetry breaking propulsion of chemically coated magnetic microparticles.

Chemically coated micro/nanoparticles are often used in medicine to enhance drug delivery and increase drug up-take into specific areas of the body. Using a recently discovered spontaneous symmetry breaking propulsion mechanism, we demonstrate that chemically coated microparticles can swim through mucus solution under precise navigation and that certain functionalizations can dynamically change propulsion behavior. For this investigation biotin, Bitotin-PEG3-amine, and biotin chitosan were chemically functionalized onto the surfaces of magnetic microparticles using an avidin-biotin complex. These chemicals were chosen because they are used prolifically in drug delivery applications, with PEG and chitosan having well known mucoadhesive effects. Coated microparticles were then suspended in mucus synthesized from porcine stomach mucins and propelled using rotating magnetic fields. The relationship between different chemical coatings, microparticle velocity, and controllability were thoroughly explored and discussed. Results indicate that the biotinylated surface coatings altered the propulsion behavior of microparticles, with performance differences interlinked to both magnetic field properties and localized mucus properties. Precisely controlled drug carrying microparticles are envisioned to help supplant traditional drug delivery methods and enhance existing medical techniques utilizing micro/nanoparticles.

Rolling Motion of a Soft Microsnowman under Rotating Magnetic Field.

This paper demonstrates a manipulation of snowman-shaped soft microrobots under a uniform rotating magnetic field. Each microsnowman robot consists of two biocompatible alginate microspheres with embedded magnetic nanoparticles. The soft microsnowmen were fabricated using a microfluidic device by following a centrifuge-based microfluidic droplet method. Under a uniform rotating magnetic field, the microsnowmen were rolled on the substrate surface, and the velocity response for increasing magnetic field frequencies was analyzed. Then, a microsnowman was rolled to follow different paths, which demonstrated directional controllability of the microrobot. Moreover, swarms of microsnowmen and single alginate microrobots were manipulated under the rotating magnetic field, and their velocity responses were analyzed for comparison.

Flagellated Janus particles for multimodal actuation and transport.

Catalytic Janus particles rely on chemical decomposition to self-propel and have displayed enormous potential for targeted drug delivery and cellular penetration. Catalytic propulsion mechanisms are limiting, however, with fuel requirements and specialized fluid properties being necessary to achieve propulsion. We have improved the dynamic propulsion of catalytic Janus particles by functionalizing flagellar filaments to one of their hemispheres. Flagellated Janus particles, torqued by rotating magnetic fields, swim along their rotation axis using the explicit chirality and flexibility of flagella, mimicking flagellar rotation of live bacteria. Depending on the working fluid, flagellated Janus particles can propel using either catalytic or swimming propulsion. We demonstrate experimentally that flagellated Janus particles behave predictably under the two actuation modes and can precisely follow trajectories under closed-loop feedback control. Flagellated Janus particles were demonstrated to swim in both Newtonian and shear-thickening fluids. These are the first Janus particles developed that can be propelled interchangeably between catalytic and flagellar swimming propulsion, allowing two distinct propulsion mechanisms for future use within in vivo operations.

Symmetry breaking propulsion of magnetic microspheres in nonlinearly viscoelastic fluids.

Microscale propulsion impacts a diverse array of fields ranging from biology and ecology to health applications, such as infection, fertility, drug delivery, and microsurgery. However, propulsion in such viscous drag-dominated fluid environments is highly constrained, with time-reversal and geometric symmetries ruling out entire classes of propulsion. Here, we report the spontaneous symmetry-breaking propulsion of rotating spherical microparticles within non-Newtonian fluids. While symmetry analysis suggests that propulsion is not possible along the fore-aft directions, we demonstrate the existence of two equal and opposite propulsion states along the sphere's rotation axis. We propose and experimentally corroborate a propulsion mechanism for these spherical microparticles, the simplest microswimmers to date, arising from nonlinear viscoelastic effects in rotating flows similar to the rod-climbing effect. Similar possibilities of spontaneous symmetry-breaking could be used to circumvent other restrictions on propulsion, revising notions of microrobotic design and control, drug delivery, microscale pumping, and locomotion of microorganisms.

Flagellar nanorobot with kinetic behavior investigation and 3D motion.

Wirelessly controlled nanorobots have the potential to perform highly precise maneuvers within complex in vitro and in vivo environments. Flagellar nanorobots will be useful in a variety of biomedical applications, however, to date there has been little effort to investigate essential kinetic behavior changes related to the geometric properties of the nanorobot and effects imparted to it by nearby boundaries. Flagellar nanorobots are composed of an avidin-coated magnetic nanoparticle head (MH) and a single biotin-tipped repolymerized flagellum that are driven by a wirelessly generated rotating magnetic field. Nanorobots with different MHs and flagellar lengths were manually guided to perform complex swimming trajectories under both bright-field and fluorescence microscopy visualizations. The experimental results show that rotational frequency, handedness of rotation direction, MH size, flagellar length, and distance to the bottom boundary significantly affect the kinematics of the nanorobot. The results reported herein summarize fundamental research that will be used for the design specifications necessary for optimizing the application of helical nanorobotic devices for use in delivery of therapeutic and imaging agents. Additionally, robotic nanoswimmers were successfully navigated and tracked in 3D using quantitative defocusing, which will significantly improve the efficiency, function, and application of the flagellar nanorobot.

Heterogeneously flagellated microswimmer behavior in viscous fluids.

An analysis of heterogeneously flagellated microswimmers inside viscous fluids is presented. Flagella harvested from Salmonella typhimurium were isolated, repolymerized, and functionalized to have biotin at their ends, allowing for chemical attachment along the surfaces of avidin-coated microparticles. Assembled microswimmers were rotated under incremental magnetic field frequencies, in saline and methylcellulose solutions, to baseline their velocity responses. A mean square displacement analysis revealed that rotating microswimmers exhibited anomalous diffusive behavior at small time scales in each fluid and had increased diffusivity compared with the non-rotating cases. Flagellated microswimmers had decreased diffusivity when compared with non-flagellated microparticles in Brownian conditions. Microswimmers were demonstrated to perform selected trajectories under proportional feedback control with reasonable accuracy. Finally, microswimmer propulsion was shown to be heavily influenced by the handedness of the rotating magnetic fields, with frequency induced reversals of swimming direction observed under clockwise rotation; this effect was determined to be the result of flagellar bundling and unbundling.

Characterization of Flagellar Filaments and Flagellin through Optical Microscopy and Label-Free Nanopore Responsiveness.

In this study, we investigated the translocation characteristics of flagellar filaments (Salmonella typhimurium) and flagellin subunits through silicon nitride nanopores in tandem with optical microscopy analysis. Even though untagged flagella are dark to the optical method, the label-free nature of the nanopore sensor allows it to characterize both tagged (Cy3) and pristine forms of flagella (including real-time developments). Flagella were depolymerized to flagellin subunits at ∼65 °C (most commonly reported temperature), ∼70 °C, ∼75 °C, and ∼80 °C to investigate the effect of temperature (Tdepol) on depolymerization. The change in conductance (ΔG) profiles corresponding to Tdepol ∼65 °C and ∼70 °C were bracketed within the flagellin monomer profile whereas those of ∼75 °C and ∼80 °C extended beyond this profile, suggesting a change to the native protein state. The molecular radius calculated from the excluded electrolyte volume of flagellin through nanopore-based ΔG characteristics for each Tdepol of ∼65 °C, ∼70 °C, ∼75 °C, and ∼80 °C yielded ∼4.2 ± 0.2 nm, ∼4.3 ± 0.3 nm, ∼4.1 ± 0.2 nm, and ∼4.7 ± 0.5 nm, respectively. This, along with ΔG (plateaued values) and translocation time profiles, points to the possibility of flagellin misfolding at ∼80 °C.