Polymer-Based Wireless Resonant Magnetic Microrobots

Author

Hsi-Wen Tung ; Maffioli, Massimo ; Frutiger, Dominic R. ; Sivaraman, Kartik M. ; Pane, Salvador ; Nelson, Bradley J.

Author_Institution

Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland

Volume

30

Issue

1

fYear

2014

fDate

Feb. 2014

Firstpage

26

Lastpage

32

Abstract

This paper presents a new generation of wireless resonant magnetic microactuator (WRMMA) type microrobot, named PolyMite. A polymer is used as a spring material in the design of the PolyMite. Compared with the previous generation of such devices, the use of a polymer, i.e., SU-8, as a spring material enables the design of a stable spring system without a significant increase in stiffness. A speed of over 20 mm/s (40 body lengths per second) was measured when the PolyMite was driven in air. Micromanipulation abilities of the PolyMites in wet environments have also been demonstrated. The agents were capable of transporting microobjects such as light polystyrene beads and heavier glass beads in water. The large output force, remote actuation, and biocompatible outer surface (SU-8 and gold) make the PolyMite an exciting candidate for biomedical applications.

Keywords

magnetic actuators; microactuators; microrobots; polymers; PolyMite; SU-8; WRMMA type microrobot; glass beads; gold; micromanipulation; output force; polymer; polystyrene beads; remote actuation; spring material; stiffness; wireless resonant magnetic microrobot; Force; Gold; Magnetic resonance; Polymers; Springs; Substrates; CoNi alloy; SU-8; micromanipulation; wireless mobile microrobots; wireless resonant magnetic microactuators (WRMMA);

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2013.2288514

Filename

6663713