Kim, Hoyeon Ali, Jamel Cheang, U. Kei Jeong, Jinwoo Kim, Jin Seok Kim, Min Jun 2024-01-20T03:04:33Z 2024-01-20T03:04:33Z 2021-09-05 2016-10 1672-6529 https://pubs.kist.re.kr/handle/201004/123606 When developing microscale robotic systems it is desired that they are capable of performing microscale tasks such as small scale manipulation and transport. In this paper, we demonstrate the transport of microscale objects using single or multiple microrobots in low Reynolds number fluidic environment. The microrobot is composed of a 'U' shaped SU-8 body, coated on one side with nickel. Once the nickel coating is magnetized, the motion of the microrobots can be driven by external magnetic fields. To invoke different responses from two microrobots under a global magnetic field, two batches of microrobots were fabricated with different thicknesses of nickel coating as a way to promote heterogeneity within the microrobot population. The heterogeneity in magnetic content induces different spatial and temporal responses under the same control input, resulting in differences in movement speed. The nickel coated microstructure is manually controlled through a user interface developed using C++. This paper presents a control strategy to navigate the microrobots by controlling the direction and strength of externally applied magnetic field, as well as orientation of the microrobots based on their polarity. In addition, multiple micro robots are used to perform transport tasks. English SPRINGER SINGAPORE PTE LTD FISH PROPULSION DRIVEN Micro Manipulation Using Magnetic Microrobots Article 10.1016/S1672-6529(16)60324-4 1 JOURNAL OF BIONIC ENGINEERING, v.13, no.4, pp.515 - 524 JOURNAL OF BIONIC ENGINEERING 13 4 515 524 scie scopus 000385691200001 2-s2.0-84994415982 Engineering, Multidisciplinary Materials Science, Biomaterials Robotics Engineering Materials Science Robotics Article FISH PROPULSION DRIVEN microrobot magnetic control microtransport magnetic polarity micromanipulation