Responsive Hydrogel-Based Modular Microrobots for Multi-Functional Micromanipulation

doi:10.1002/smll.202404311

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Responsive Hydrogel-Based Modular Microrobots for Multi-Functional Micromanipulation

2024-07-23

Liyuan Tan *

David J. Cappelleri

DOI：10.1002/smll.202404311

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Abstract

En 中文

Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and type and the tasks they can perform are limited. In this paper, modular microrobots, with an overall size of 120 mu m x 200 mu m, are proposed with responsive mating components, made from stimuli-responsive hydrogels, and application specific end-effectors for microassembly tasks. The modular microrobots are fabricated based on photolithography and two-photon polymerization together or separately. Two types of modular microrobots are created based on the location of the responsive mating component. The first type of modular microrobot has a mating component that can shrink upon stimulation, while the second type has a double bilayer structure that can realize an open and close motion. The exchange of end-effectors with an identical actuation base is demonstrated for both types of microrobots. Finally, different manipulation tasks are performed with different types of end-effectors. Magnetic modular microrobots that can change their end-effectors to achieve different functions are presented. The two modules, the magnetic base and the end-effector, are connected by a responsive mating component made from hydrogel materials, fabricated with two-photon polymerization. The modular microrobots successfully demonstrate with their ability to exchange end-effectors and perform micromanipulation applications. image

Keywords:

microrobots

modular

hydrogel