Dynamics Model of Paramecium Galvanotaxis for Microrobotic Application

We propose a dynamics model of galvanotaxis (locomotor response to electrical stimulus) of the protozoan Paramecium. Our purpose is to utilize microorganisms as micro-robots by using galvanotaxis. For precise and advanced actuation, it is necessary to describe the dynamics of galvanotaxis in a mathematical and quantitative manner in the framework of robotics. However, until now the explanation of Paramecium galvanotaxis in previous works has remained only qualitative. In this paper, we construct a novel model of galvanotaxis as a minimal step to utilizing Paramecium cells as micro-robots. Numerical experiments for our model demonstrate realistic behaviors, such as U-turn motions, like those of real cells.