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Reference (article)

J. J. Abbott, K. E. Peyer, M. C. Lagomarsino, L. Zhang, L. X. Dong, I. K. Kaliakatsos, B. J. Nelson, "How Should Microrobots Swim?", International Journal of Robotics Research, July 2009 (doi:10.1177/0278364909341658).

BibTeX entry

@ARTICLE{Abbott_09_01,
	Author = {Jacob J. Abbott and Kathrin E. Peyer and M. C. Lagomarsino and Li Zhang and Lixin X. Dong and Ioannis K. Kaliakatsos and Bradley J. Nelson},
	Title = {How Should Microrobots Swim?},
	Journal = {International Journal of Robotics Research},
	Month = {July},
	Year = {2009},
	Note = {doi:10.1177/0278364909341658},
	Abstract = {Microrobots have the potential to dramatically change many aspects of medicine by navigating through bodily fluids to perform targeted diagnosis and therapy. Researchers have proposed numerous microrobotic swimming methods, with the vast majority utilizing magnetic fields to wirelessly power and control the microrobot. In this paper, we compare three promising methods of microrobot swimming (using magnetic fields to rotate helical propellers that mimic bacterial flagella, using magnetic fields to oscillate a magnetic head with a rigidly attached elastic tail, and pulling directly with magnetic field gradients) considering practical hardware limitations in the generation of magnetic fields. We find that helical propellers and elastic tails have very comparable performance, and they generally become more desirable than gradient pulling as size decreases and as distance from the magnetic-field-generation source increases. We provide a discussion of why helical propellers are likely the best overall choice for in vivo applications. }
}

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