Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot

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Multifunctional biohybrid magnetite microrobots for imaging-guided therapy (2017, background): “To enable magnetic actuation at the microscale and/or nanoscale, magnetic robots of various structures—such as rigid-flexible nanowires (13, 16, 17), microspheres (18, 19), ellipsoids (20, 21), helices (7, 22–25), filaments (26), and even arbitrary shapes (27, 28)—have been developed.”
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation (2010, background): “ture [25], and creating rocking motions of the microrobot that results in net lateral movement [26], [27].”
Three-Dimensional Magnetic Manipulation of Micro- and Nanostructures for Applications in Life Sciences (2013, background): “These results indicate that the MiniMag is capable of generating a wide variety of static or changing fields up to 1–2 kHz, which are suitable for previously reported stepping [19], [20] or swimming [22] techniques.”
Biomedical Applications of Untethered Mobile Milli/Microrobots (2015, background): “robots include the Mag- Bot [33], the Mag-Mite magnetic crawling”
Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions (2019, background): “Multi-legged paddle-crawling robot For small-scale robots, walking on a 2D surface requires breaking strong surface adhesion using techniques, such as induced vibration (40), stick-slip–based motion (41), and surface engineering that provides superior adaptivity (42).”