Tony Wang, DeaGyu Kim, Yifan Shi et al.
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups remains challenging to date. This work presents a novel control mechanism and contact design that enables bidirectional steering via biasing the neutral position of the microrobot. Equipped with rockers to contact the substrate, the microrobot, hence microrocker bot, is capable of well-controlled forward and backward movement on flat and non-flat biological surfaces. The 100um by 113um by 36um robots were 3D printed via two-photon lithography and subsequently deposited with nickel thin films. Under a relatively small static magnetic field, the microrocker bot tilts either forward or backward to align the thin film magnetization direction with the magnetic field lines. When combined with an oscillating magnetic field, the robot undergoes stick-slip motion in the predisposed direction, dictated by the neutral position tilt. The microrocker bots are further equipped with sharp mechanical tips that can be selectively engaged. When the frequency and offset of the actuation sawtooth waveform are optimized, the robot travels up to 100um/s (1 body length per second) forward and backward showing very linear trajectories. Finally, to prove the functionality of the microrocker bots in direct contact with biological surfaces, we demonstrate the robot's ability to traverse forward and backward on the surface of a Dracaena Fragrans leaf, and upend/engage on its mechanical tip.