Shape-programmable millimeter-scale robots

As these miniature soft robots can easily access confined spaces within the human body, they show great promise to realize revolutionary biomedical applications such as targeted drug delivery and minimally-invasive surgeries. While there exists many different types of actuation, here we are particularly interested in using remote magnetic fields to control our robots. In contrast to other methods, magnetic actuation offers higher control authority as the actuating fields can be controlled not only in their magnitude but also in their direction and spatial-gradients. Furthermore, this actuation method will be compatible for our targeted medical applications as the actuating magnetic fields can easily and harmlessly penetrate through biological tissues.

Heading towards these biomedical applications, we have previously developed a universal design method that can program the magnetization profile and actuating fields for our robots to achieve their specified functionalities. However, to enhance the practicality of these robots, we will continue to develop new design methods to further enhance their functionalities.

Relevant Publications:

1. W. Hu*, G. Z. Lum*, M. Mastrangeli, M. Sitti, "Small-scale soft-bodied robot with multimodal locomotion". Nature, vol. 554, February 2018, Pages 81-85. *Co-First Authors [link]

2. G. Z. Lum*, Z. Ye*, X. Dong*, H. Marvi, O. Erin, W. Hu and M. Sitti, "Shape-programmable magnetic soft matter", Proceedings of National Academy of Sciences, vol. 113, no. 41, September 2016, Pages E6007-E6015. *Co-First Authors [link]

3. E. Diller, J. Zhuang, G. Z. Lum, M. R. Edwards and M. Sitti, "Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming", Applied Physics Letter, vol. 104, no. 17, April 2014, Page 174101. [link]