DocumentCode :
2682855
Title :
Micromanipulation using artificial bacterial flagella
Author :
Zhang, Li ; Abbott, Jake J. ; Dong, Lixin ; Kratochvil, Bradley E. ; Zhang, Haixin ; Peyer, Kathrin E. ; Nelson, Bradley J.
Author_Institution :
Multi-Scale Robot. Lab., ETH Zurich, Zurich, Switzerland
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
1401
Lastpage :
1406
Abstract :
Artificial bacterial flagella (ABF) are swimming microrobots that mimic the swimming motion of bacteria. The helical swimmer consists of an InGaAs/GaAs/Cr helical nanobelt tail fabricated by a self-scrolling technique with dimensions similar to a natural flagellum, and a thin soft-magnetic metal ¿head¿ consisting of a Cr/Ni/Au multi-layer. The swimming locomotion of ABF is precisely controlled in 3-D by external rotating magnetic fields. Microsphere manipulation is performed by ABF, and experimental results show that both the position and the orientation of microspheres can be precisely controlled. The propelling force of ABF is in the pico-Newton range. We also describe a swarm-like behavior in which three ABF swim in a pack, indicating the potential to handle several micro objects in parallel. Self-propelled devices such as these are candidates for wireless 6-DOF micro and nanomanipulation tools for handling cellular and sub-cellular objects.
Keywords :
chromium; gallium compounds; gold; indium compounds; micromanipulators; microorganisms; nickel; Cr-Ni-Au; InGaAs-GaAs-Cr; artificial bacterial flagella; cellular objects; external rotating magnetic fields; helical swimmer; micromanipulation; microsphere manipulation; natural flagellum; self-scrolling technique; soft-magnetic metal head; subcellular objects; swimming microrobots; Chromium; Force control; Gallium arsenide; Gold; Indium gallium arsenide; Magnetic fields; Microorganisms; Nanoscale devices; Propulsion; Tail;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354314
Filename :
5354314
Link To Document :
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