A Review of Micromotors in Confinements: Pores, Channels, Grooves, Steps, Interfaces, Chains, and Swimming in the Bulk

Motion control of chemically powered colloidal motors

Chemically powered colloidal motors can convert chemical energy into directional mechanical movement, making them promising for applications such as targeted drug delivery, environmental decontamination, and precision disease treatment. However, their self-propulsion is constantly disrupted by random Brownian motion, making precise control under low Reynolds number conditions highly challenging. This review provides a brief overview of the three main propulsion mechanisms of chemically powered colloidal motors. It also summarizes recent advances in motion control, including speed regulation and trajectory navigation. Finally, we discuss future directions for achieving more precise motion control. We hope this review will inspire further research on developing more effective and practical control strategies for colloidal motors.

Metareview: a survey of active matter reviews

In the past years, the amount of research on active matter has grown extremely rapidly, a fact that is reflected in particular by the existence of more than 1000 reviews on this topic. Moreover, the field has become very diverse, ranging from theoretical studies of the statistical mechanics of active particles to applied work on medical applications of microrobots and from biological systems to artificial swimmers. This makes it very difficult to get an overview over the field as a whole. Here, we provide such an overview in the form of a metareview article that surveys the existing review articles and books on active matter. Thereby, this article provides a useful starting point for finding literature about a specific topic.

Template-Guided Silicon Micromotor Assembly for Enhanced Cell Manipulation

Light-driven micro/nanorobots (LMNRs) are tiny, untethered machines with great potential in fields like precision medicine, nano manufacturing, and various other domains. However, their practicality hinges on developing light-manipulation strategies that combine versatile functionalities, flexible design options, and precise controllability. Our study introduces an innovative approach to construct micro/nanorobots (MNRs) by utilizing micro/nanomotors as fundamental building blocks. Inspired by silicon Metal-Insulator-Semiconductor (MIS) solar cell principles, we design a new type of optomagnetic hybrid micromotors (OHMs). These OHMs have been skillfully optimized with integrated magnetic constituent, resulting in efficient light propulsion, precise magnetic navigation, and the potential for controlled assembly. One of the key features of the OHMs is their ability to exhibit diverse motion modes influenced by fracture surfaces and interactions with the environment, streamlining cargo conveyance along "micro expressway"-the predesigned microchannels. Further enhancing their versatility, a template-guided assembly strategy facilitates the assembly of these micromotors into functional microrobots, encompassing various configurations such as "V-shaped", "N-shaped", and 3D structured microrobots. The heightened capabilities of these microrobots, underscore the innovative potential inherent in hybrid micromotor design and assembly, which provides a foundational platform for the realization of multi-component microrobots. Our work moves a step toward forthcoming microrobotic entities boasting advanced functionalities.

Synthetic DNA-based Swimmers Driven by Enzyme Catalysis

Here, we report DNA-based synthetic nanostructures decorated with enzymes (hereafter referred to as DNA-enzyme swimmers) that self-propel by converting the enzymatic substrate to the product in solution. The DNA-enzyme swimmers are obtained from tubular DNA structures that self-assemble spontaneously by the hybridization of DNA tiles. We functionalize these DNA structures with two different enzymes, urease and catalase, and show that they exhibit concentration-dependent movement and enhanced diffusion upon addition of the enzymatic substrate (i.e., urea and H2O2). To demonstrate the programmability of such DNA-based swimmers, we also engineer DNA strands that displace the enzyme from the DNA scaffold, thus acting as molecular "brakes" on the DNA swimmers. These results serve as a first proof of principle for the development of synthetic DNA-based enzyme-powered swimmers that can self-propel in fluids.

Non-Stokesian dynamics of magnetic helical nanoswimmers under confinement

Electromagnetically propelled helical nanoswimmers offer great potential for nanorobotic applications. Here, the effect of confinement on their propulsion is characterized using lattice-Boltzmann simulations. Two principal mechanisms give rise to their forward motion under confinement: (i) pure swimming and (ii) the thrust created by the differential pressure due to confinement. Under strong confinement, they face greater rotational drag but display a faster propulsion for fixed driving frequency in agreement with experimental findings. This is due to the increased differential pressure created by the boundary walls when they are sufficiently close to each other and the particle. We have proposed two analytical relations (i) for predicting the swimming speed of an unconfined particle as a function of its angular speed and geometrical properties, and (ii) an empirical expression to accurately predict the propulsion speed of a confined swimmer as a function of the degree of confinement and its unconfined swimming speed. At low driving frequencies and degrees of confinement, the systems retain the expected linear behavior consistent with the predictions of the Stokes equation. However, as the driving frequency and/or the degree of confinement increase, their impact on propulsion leads to increasing deviations from the Stokesian regime and emergence of nonlinear behavior.

Magnetic micromotors crossing lipid membranes

Nano/micromotors are self-propelled particles that show enhanced motion upon being triggered by a stimulus. Their use in nanomedicine has been widely explored, with special focus on imaging or drug delivery. However, a thorough understanding of the requirements for more efficient locomotion is still lacking. In this paper, we assembled magnetically propelled motors of different sizes (i.e., 0.5, 1 and 4 μm) and surface chemistries (positive charge or PEGylated) and assessed their motion in the presence of giant unilamellar lipid vesicles (GUVs) of varying compositions (zwitterionic, negatively charged and saturated lipids). Unexpectedly, the size does not seem to be the dominating characteristics that governs the ability of the motors to cross lipid membranes. Specifically, the 0.5 μm PEGylated motors have very limited ability to cross the lipid membrane of GUVs due to their non-interacting nature compared to their equally sized positively charged counterparts. Furthermore, membranes made of saturated lipids and, in particular, in combination with a weak magnetic field facilitate motors' crossing, regardless of their size. The results were validated by in-house data-driven statistical analysis that employs experimental data to allow for the identification of individual motor motion in the ensemble when meeting the lipid membranes. Altogether, we provide insight into motor locomotion when they interact with a biological barrier considering both the entire ensemble and the individual motors, which has the potential to support considerations of future motor designs.

Open Questions of Chemically Powered Nano- and Micromotors

Chemically powered nano- and micromotors are microscopic devices that convert chemical energy into motion. Interest in these motors has grown over the past 20 years because they exhibit interesting collective behaviors and have found potential uses in biomedical and environmental applications. Understanding how these motors operate both individually and collectively and how environments affect their operation is of both fundamental and applied significance. However, there are still significant gaps in our knowledge. This Perspective highlights several open questions regarding the propulsion mechanisms of, interactions among, and impact of confinements on nano- and micromotors driven by self-generated chemical gradients. These questions are based on my own experience as an experimentalist. For each open question, I describe the problem and its significance, analyze the status-quo, identify the bottleneck problem, and propose potential solutions. An underlying theme for these questions is the interplay among reaction kinetics, physicochemical distributions, and fluid flows. Unraveling this interplay requires careful measurements as well as a close collaboration between experimentalists and theoreticians/numerical experts. The interdisciplinary nature of these challenges suggests that their solutions could bring new revelations and opportunities across disciplines such as colloidal sciences, material sciences, soft matter physics, robotics, and beyond.

Motion of magnetic motors across liquid-liquid interface

HYPOTHESIS

In a number of applications related to chemical engineering and drug delivery, magnetic nanoparticles should move through a liquid-liquid interface in the presence of surfactant molecules. However, due to the action of capillary forces, this is not always possible. The mechanism of particle motion through the interface essentially depends on the intensity of the Marangoni flow, which is induced on the interface during its deformation.

EXPERIMENTS

In this paper we study the motion of nanoparticles Fe3O4 through the water-tridecane interface under the action of a nonuniform magnetic field when using different surfactants.

FINDINGS

If the linear size of the magnetic motor turns out to be less than a certain critical value, then it is not able to move between phases due to the action of capillary forces on the interface. Depending on the type and concentration of the surfactant used, various mechanisms for the motor motion through the liquid-liquid interface can be carried out. In one of them, a liquid phase is transferred through the interface along with a movable motor, while in the other, it is not.

Dielectrophoretic Colloidal Levitation by Electrode Polarization in Oscillating Electric Fields

Controlled colloidal levitation is key to many applications. Recently, it was discovered that polymer microspheres were levitated to a few micrometers in aqueous solutions in alternating current (AC) electric fields. A few mechanisms have been proposed to explain this AC levitation such as electrohydrodynamic flows, asymmetric rectified electric fields, and aperiodic electrodiffusiophoresis. Here, we propose an alternative mechanism based on dielectrophoresis in a spatially inhomogeneous electric field gradient extending from the electrode surface micrometers into the bulk. This field gradient is derived from electrode polarization, where counterions accumulate near electrode surfaces. A dielectric microparticle is then levitated from the electrode surface to a height where the dielectrophoretic lift balances gravity. The dielectrophoretic levitation mechanism is supported by two numerical models. One model assumes point dipoles and solves for the Poisson-Nernst-Planck equations, while the second model incorporates a dielectric sphere of a realistic size and permittivity and uses the Maxwell-stress tensor formulation to solve for the electrical body force. In addition to proposing a plausible levitation mechanism, we further demonstrate that AC colloidal levitation can be used to move synthetic microswimmers to controlled heights. This study sheds light on understanding the dynamics of colloidal particles near an electrode and paves the way to using AC levitation to manipulate colloidal particles, active or passive.

Steering Micromotors via Reprogrammable Optoelectronic Paths

Steering micromotors is important for using them in practical applications and as model systems for active matter. This functionality often requires magnetic materials in the micromotor, taxis behavior of the micromotor, or the use of specifically designed physical boundaries. Here, we develop an optoelectronic strategy that steers micromotors with programmable light patterns. In this strategy, light illumination turns hydrogenated amorphous silicon conductive, generating local electric field maxima at the edge of the light pattern that attracts micromotors via positive dielectrophoresis. As an example, metallo-dielectric Janus microspheres that self-propelled under alternating current electric fields were steered by static light patterns along customized paths and through complex microstructures. Their long-term directionality was also rectified by ratchet-shaped light patterns. Furthermore, dynamic light patterns that varied in space and time enabled more advanced motion controls such as multiple motion modes, parallel control of multiple micromotors, and the collection and transport of motor swarms. This optoelectronic steering strategy is highly versatile and compatible with a variety of micromotors, and thus it possesses the potential for their programmable control in complex environments.

Ultrasonic Steering Wheels: Turning Micromotors by Localized Acoustic Microstreaming

The ability to steer micromotors in specific directions and at precise speeds is highly desired for their use in complex environments. However, a generic steering strategy that can be applied to micromotors of all types and surface coatings is yet to be developed. Here, we report that ultrasound of ∼100 kHz can spin a spherical micromotor so that it turns left or right when moving forward, or that it moves in full circles. The direction and angular speeds of their spinning and the radii of circular trajectories are precisely tunable by varying ultrasound voltages and frequencies, as well as particle properties such as its radius, materials, and coating thickness. Such spinning is hypothesized to originate from the circular microstreaming flows localized around a solid microsphere vibrating in ultrasound. In addition to causing a micromotor to spin, such streaming flows also helped release cargos from a micromotor during a capture-transport-release mission. Localized microstreaming does not depend on or interference with a specific propulsion mechanism and can steer a wide variety of micromotors. This work suggests that ultrasound can be used to steer microrobots in complex, biologically relevant environments as well as to steer microorganisms and cells.

Colloidal Active Matter Mimics the Behavior of Biological Microorganisms-An Overview

This article provides a review of the recent development of biomimicking behaviors in active colloids. While the behavior of biological microswimmers is undoubtedly influenced by physics, it is frequently guided and manipulated by active sensing processes. Understanding the respective influences of the surrounding environment can help to engineering the desired response also in artificial swimmers. More often than not, the achievement of biomimicking behavior requires the understanding of both biological and artificial microswimmers swimming mechanisms and the parameters inducing mechanosensory responses. The comparison of both classes of microswimmers provides with analogies in their dependence on fuels, interaction with boundaries and stimuli induced motion, or taxis.

Microdynamics of active particles in defect-rich colloidal crystals

HYPOTHESIS

Because they are self-propulsive, active colloidal particles can interact with their environment in ways that differ from passive, Brownian particles. Here, we explore how interactions in different microstructural regions may contribute to colloidal crystal annealing.

EXPERIMENTS

We investigate active particles propagating in a quasi-2D colloidal crystal monolayer produced by alternating current electric fields (active-to-passive particle ratio ∼ 1:720). The active particle is a platinum Janus sphere propelled by asymmetric decomposition of hydrogen peroxide. Crystals are characterized for changes in void properties. The mean-squared-displacement of Janus particles are measured to determine how active microdynamics depend on the local microstructure, which is comprised of void regions, void-adjacent regions (defined as within three particle diameters of a void), and interstitial regions.

FINDINGS

At active particle energy E_A = 2.55 k_BT, the average void size increases as much as three times and the average void anisotropy increases about 40% relative to the passive case. The average microdynamical enhancement, <δ(t)>, of Janus particles in the crystal relative to an equivalent passive Janus particle is reduced compared to that of a free, active particle (<δ(t) > is 1.88 ± 0.04 and 2.66 ± 0.08, respectively). The concentration of active particles is enriched in void and void-adjacent regions. Active particles exhibit the greatest change in dynamics relative to the passive control in void-adjacent regions (<δ(t)> = 2.58 ± 0.06). The results support the conjecture that active particle microdynamical enhancement in crystal lattices is affected by local defect structure.

On Nanomachines and Their Future Perspectives in Biomedicine

Nano/micromotors are a class of active matter that can self-propel converting different types of input energy into kinetic energy. The huge efforts that are made in this field over the last years result in remarkable advances. Specifically, a high number of publications have dealt with biomedical applications that these motors may offer. From the first attempts in 2D cell cultures, the research has evolved to tissue and in vivo experimentation, where motors show promising results. In this Perspective, an overview over the evolution of motors with focus on bio-relevant environments is provided. Then, a discussion on the advances and challenges is presented, and eventually some remarks and perspectives of the field are outlined.

Tailoring Functional Micromotors for Sensing

Micromotors are identified as a promising candidate in the field of sensing benefiting from their capacity of autonomous movement. Here, a review on the development of tailoring micromotors for sensing is presented, covering from their propulsion mechanisms and sensing strategies to applications. First, we concisely summarize the propulsion mechanism of micromotors involving fuel-based propulsion and fuel-free propulsion introducing their principles. Then, emphasis is laid to the sensing stratagems of the micromotors including speed-based sensing strategy, fluorescence-based sensing strategy, and other strategies. We listed typical examples of different sensing stratagems. After that, we introduce the applications of micromotors in sensing fields including environmental science, food safety, and biomedical fields. Finally, we discuss the challenges and prospects of the micromotors tailored for sensing. We believe that this comprehensive review can help readers to catch the research frontiers in the field of sensing and thus to burst out new ideas.

Controlled propulsion of micro/nanomotors: operational mechanisms, motion manipulation and potential biomedical applications

Inspired by natural mobile microorganisms, researchers have developed micro/nanomotors (MNMs) that can autonomously move by transducing different kinds of energies into kinetic energy. The rapid development of MNMs has created tremendous opportunities for biomedical fields including diagnostics, therapeutics, and theranostics. Although the great progress has been made in MNM research, at a fundamental level, the accepted propulsion mechanisms are still a controversial matter. In practical applications such as precision nanomedicine, the precise control of the motion, including the speed and directionality, of MNMs is also important, which makes advanced motion manipulation desirable. Very recently, diverse MNMs with different propulsion strategies, morphologies, sizes, porosities and chemical structures have been fabricated and applied for various uses. Herein, we thoroughly summarize the physical principles behind propulsion strategies, as well as the recent advances in motion manipulation methods and relevant biomedical applications of these MNMs. The current challenges in MNM research are also discussed. We hope this review can provide a bird's eye overview of the MNM research and inspire researchers to create novel and more powerful MNMs.

Multimodal Bubble Microrobot Near an Air-Water Interface

The development of multifunctional and robust swimming microrobots working at the free air-liquid interface has encountered challenge as new manipulation strategies are needed to overcome the complicated interfacial restrictions. Here, flexible but reliable mechanisms are shown that achieve a remote-control bubble microrobot with multiple working modes and high maneuverability by the assistance of a soft air-liquid interface. This bubble microrobot is developed from a hollow Janus microsphere (JM) regulated by a magnetic field, which can implement switchable working modes like pusher, gripper, anchor, and sweeper. The collapse of the microbubble and the accompanying directional jet flow play a key role for functioning in these working modes, which is analogous to a "bubble tentacle." Using a simple gamepad, the orientation and the navigation of the bubble microrobot can be easily manipulated. In particular, a speed modulation method is found for the bubble microrobot, which uses vertical magnetic field to control the orientation of the JM and the direction of the bubble-induced jet flow without changing the fuel concentration. The findings demonstrate a substantial advance of the bubble microrobot specifically working at the air-liquid interface and depict some nonintuitive mechanisms that can help develop more complicated microswimmers.

Propulsion, deformation, and confinement response of hollow nanocellulose millimotors

HYPOTHESIS

Micromotor and nanomotor particles are typically made using dense solid particles that can sediment or be trapped in confined flow environments. Creation of much larger motors should be possible if a very low-density system is used with sufficient strength to carry liquid and still experience propulsive motion. Light, dense millimotors should also be able to deform more than dense solid ones in constrictions.

EXPERIMENTS

Millimotors are created from permeable capsules of bacterial cellulose that are coated with catalse-containing metal-organic frameworks, enabling reactive propulsion in aqueous hydrogen peroxide. The motion of the motors is quantified using particle tracking and the deformation is measured using microcapillary compression and flow through confined channels.

FINDINGS

Two different propulsion mechanisms are dominant depending on the motor surface chemistry: oxygen bubbles are expelled from hydrophilic millimotors, driving motion via recoil force and buoyancy. Hydrophobic millimotors remain attached to growing bubbles and move by buoyancy alone. Despite their large size, the low-density capsules compress to pass through contractions that would impede and be blocked by solid motors. The sparse structure but relatively large size of the motors enables them to transport significant volumes of liquid using minimal solid mass as a motor support structure.

Effect of anisotropy on the formation of active particle films

Active colloids belong to a class of nonequilibrium systems where energy uptake, conversion, and dissipation occur at the level of individual colloidal particles, which can lead to particles' self-propelled motion and surprising collective behavior. Examples include coexistence of vapor- and liquid-like steady states for active particles with repulsive interactions only, phenomena known as motility-induced phase transitions. Similarly to motile unicellular organisms, active colloids tend to accumulate at confining surfaces forming dense adsorbed films. In this work, we study the structure and dynamics of aggregates of self-propelled particles near confining solid surfaces, focusing on the effects of the particle anisotropic interactions. We performed Langevin dynamics simulations of two complementary models for active particles: ellipsoidal particles interacting through the Gay-Berne potential and rodlike particles composed of several repulsive Lennard-Jones beads. We observe a nonmonotonic behavior of the structure of clusters formed along the confining surface as a function of the particle aspect ratio, with a film spreading when particles are near-spherical, compact clusters with hedgehog-like particle orientation for more elongated active particles, and a complex dynamical behavior for an intermediate aspect ratio. The stabilization time of cluster formation along the confining surface also displays a nonmonotonic dependence on the aspect ratio, with a local minimum at intermediate values. Additionally, we demonstrate that the hedgehog-like aggregates formed by Gay-Berne ellipsoids exhibit higher structural stability as compared to the ones formed by purely repulsive active rods, which are stable due to the particle activity only.

Confined Motion: Motility of Active Microparticles in Cell-Sized Lipid Vesicles

Active materials can transduce external energy into kinetic energy at the nano and micron length scales. This unique feature has sparked much research, which ranges from achieving fundamental understanding of their motility to the assessment of potential applications. Traditionally, motility is studied as a function of internal features such as particle topology, while external parameters such as energy source are assessed mainly in bulk. However, in real-life applications, confinement plays a crucial role in determining the type of motion active particles can adapt. This feature has been however surprisingly underexplored experimentally. Here, we showcase a tunable experimental platform to gain an insight into the dynamics of active particles in environments with restricted 3D topology. Particularly, we examined the autonomous motion of coacervate micromotors confined in giant unilamellar vesicles (GUVs) spanning 10–50 μm in diameter and varied parameters including fuel and micromotor concentration. We observed anomalous diffusion upon confinement, leading to decreased motility, which was more pronounced in smaller compartments. The results indicate that the theoretically predicted hydrodynamic effect dominates the motion mechanism within this platform. Our study provides a versatile approach to understand the behavior of active matter under controlled, compartmentalized conditions.

The role of particle-electrode wall interactions in mobility of active Janus particles driven by electric fields

HYPOTHESIS

The interaction of active particles with walls can explain discrepancies between experiments and theory derived for particles in the bulk. For an electric field driven metallodielectric Janus particle (JP) adjacent to an electrode, interaction between the asymmetric particle and the partially screened electrode yields a net electrostatic force - termed self-dielectrophoresis (sDEP) - that competes with induced-charge electrophoresis (ICEP) to reverse particle direction.

EXPERIMENTS

The potential contribution of hydrodynamic flow to the reversal is evaluated by visualizing flow around a translating particle via micro-particle image velocimetry and chemically suppressing ICEP with poly(l-lysine)-g-poly(ethylene glycol) (PLL-PEG). Mobility of Polystyrene-Gold JPs is measured in KCl electrolytes of varying concentration and with a capacitive SiO₂ coating at the metallic JP surface or electrode. Results are compared with theory and numerical simulations accounting for electrode screening.

FINDINGS

PLL-PEG predominantly suppresses low-frequency mobility where propulsive electro-hydrodynamic jetting is observed; supporting the hypothesis of an electrostatic driving force at high frequencies. Simulations and theory show the magnitude, direction and frequency dispersion of JP mobility are obtained by superposition of ICEP and sDEP using the JP height and capacitance as fitting parameters. Wall proximity enhances ICEP and sDEP and manifests a secondary ICEP charge relaxation time dominating in the contact limit.

Microrobot collectives with reconfigurable morphologies, behaviors, and functions

Mobile microrobots, which can navigate, sense, and interact with their environment, could potentially revolutionize biomedicine and environmental remediation. Many self-organizing microrobotic collectives have been developed to overcome inherent limits in actuation, sensing, and manipulation of individual microrobots; however, reconfigurable collectives with robust transitions between behaviors are rare. Such systems that perform multiple functions are advantageous to operate in complex environments. Here, we present a versatile microrobotic collective system capable of on-demand reconfiguration to adapt to and utilize their environments to perform various functions at the air-water interface. Our system exhibits diverse modes ranging from isotropic to anisotrpic behaviors and transitions between a globally driven and a novel self-propelling behavior. We show the transition between different modes in experiments and simulations, and demonstrate various functions, using the reconfigurability of our system to navigate, explore, and interact with the environment. Such versatile microrobot collectives with globally driven and self-propelled behaviors have great potential in future medical and environmental applications.

Microswimming by oxidation of dibenzylamine

Chemiophoretic nano- and micromotors require a constant flow of product molecules to maintain a gradient that enables their propulsion. Apart from a smaller number of redox reactions that have been used, catalytic reactions are the main source of energy with the obvious benefit of making on-board fuel storage obsolete. However, the decomposition of H₂O₂ seems to strongly dominate the literature and although motion in H₂O through water splitting is becoming more popular, so far only a few different reactions have been used for propulsion of photocatalytic microswimmers. Here, we investigate the possibility of extending the range of possible fuelling reactions to organic reactions with high significance in organic synthesis - the oxidation of amines to imines. Herein, motion of the microswimmers is analysed at different amine concentrations and light intensities. The findings thereof are correlated with the reaction products identified and quantified by gas chromatography (GC).

Generic Rules for Distinguishing Autophoretic Colloidal Motors

Distinguishing the operating mechanisms of nano- and micromotors powered by chemical gradients, i.e. "autophoresis", holds the key for fundamental and applied reasons. In this article, we propose and experimentally confirm that the speeds of a self-diffusiophoretic colloidal motor scale inversely to its population density but not for self-electrophoretic motors, because the former is an ion source and thus increases the solution ionic strength over time while the latter does not. They also form clusters in visually distinguishable and quantifiable ways. This pair of rules is simple, powerful, and insensitive to the specific material composition, shape or size of a colloidal motor, and does not require any measurement beyond typical microscopy. These rules are not only useful in clarifying the operating mechanisms of typical autophoretic micromotors, but also in predicting the dynamics of unconventional ones that are yet to be experimentally realized, even those involving enzymes.

Magnetic Nanomotors in Emulsions for Locomotion of Microdroplets

The locomotion of droplets in emulsions is of practical significance for fields related to medicine and chemical engineering, which can be done with a magnetic field to move droplets containing magnetic materials. Here, we demonstrate a new method of droplet locomotion in the oil-in-water emulsion with the help of a nonuniform magnetic field in the case where magnetic nanoparticles (MNPs) are dispersed in the continuous phase of the emulsion. The paper analyses the motion of the droplets in a liquid film and in a capillary for various diameters of droplets, their number density, and viscosity of the continuous phase of the emulsion. It is established that the mechanism of droplet locomotion in the emulsion largely depends on the wettability of MNPs. Hydrophobic nanoparticles are adsorbed on the droplet surfaces, forming the agglomerates of MNPs with the droplets. Such agglomerates move at much higher velocities than passive droplets. Hydrophilic nanoparticles are not adsorbed at the surfaces of the droplets but form mobile magnetic clusters dispersed in the continuous phase of the emulsion. Mobile magnetic clusters set the surrounding liquid and droplets in motion. The results obtained in this paper can be used in drug delivery.

Collective behavior of swarmalators on a ring

We study the collective behavior of swarmalators, generalizations of phase oscillators that both sync and swarm, confined to move on a one-dimensional (1D) ring. This simple model captures the essence of movement in two or three dimensions, but has the benefit of being solvable: most of the collective states and their bifurcations can be specified exactly. The model also captures the behavior of real-world swarmalators which swarm in quasi-1D rings such as bordertaxic vinegar eels and sperm.

Polymeric Micro/Nanocarriers and Motors for Cargo Transport and Phototriggered Delivery

Smart polymer-based micro/nanoassemblies have emerged as a promising alternative for transporting and delivering a myriad of cargo. Cargo encapsulation into (or linked to) polymeric micro/nanocarrier (PC) strategies may help to conserve cargo activity and functionality when interacting with its surroundings in its journey to the target. PCs for cargo phototriggering allow for excellent spatiotemporal control via irradiation as an external stimulus, thus regulating the delivery kinetics of cargo and potentially increasing its therapeutic effect. Micromotors based on PCs offer an accelerated cargo-medium interaction for biomedical, environmental, and many other applications. This review collects the recent achievements in PC development based on nanomicelles, nanospheres, and nanopolymersomes, among others, with enhanced properties to increase cargo protection and cargo release efficiency triggered by ultraviolet (UV) and near-infrared (NIR) irradiation, including light-stimulated polymeric micromotors for propulsion, cargo transport, biosensing, and photo-thermal therapy. We emphasize the challenges of positioning PCs as drug delivery systems, as well as the outstanding opportunities of light-stimulated polymeric micromotors for practical applications.

Microfluidics for Microswimmers: Engineering Novel Swimmers and Constructing Swimming Lanes on the Microscale, a Tutorial Review

This paper provides an updated review of recent advances in microfluidics applied to artificial and biohybrid microswimmers. Sharing the common regime of low Reynolds number, the two fields have been brought together to take advantage of the fluid characteristics at the microscale, benefitting microswimmer research multifold. First, microfluidics offer simple and relatively low-cost devices for high-fidelity production of microswimmers made of organic and inorganic materials in a variety of shapes and sizes. Microscale confinement and the corresponding fluid properties have demonstrated differential microswimmer behaviors in microchannels or in the presence of various types of physical or chemical stimuli. Custom environments to study these behaviors have been designed in large part with the help of microfluidics. Evaluating microswimmers in increasingly complex lab environments such as microfluidic systems can ensure more effective implementation for in-field applications. The benefits of microfluidics for the fabrication and evaluation of microswimmers are balanced by the potential use of microswimmers for sample manipulation and processing in microfluidic systems, a large obstacle in diagnostic and other testing platforms. In this review various ways in which these two complementary technology fields will enhance microswimmer development and implementation in various fields are introduced.

Particle actuation by rotating magnetic fields in microchannels: a numerical study

Magnetic particles confined in microchannels can be actuated to perform translation motion using a rotating magnetic field, but their actuation in such a situation is not yet well understood. Here, the actuation of a ferromagnetic particle confined in square microchannels is studied using immersed-boundary lattice Boltzmann simulations. In wide channels, when a sphere is positioned close to a side wall but away from channel corners, it experiences a modest hydrodynamic actuation force parallel to the channel walls. This force decreases as the sphere is shifted toward the bottom wall but the opposite trend is found when the channel is narrow. When the sphere is positioned midway between the top and bottom channel walls, the actuation force decreases as the channel width decreases and can reverse its direction. These phenomena are elucidated by studying the flow and pressure fields in the channel-particle system and by analyzing the viscous and pressure components of the hydrodynamic force acting on different parts of the sphere.

Self-powered locomotion of a hydrogel water strider

Hydrogels are an exciting class of materials for new and emerging robotics. For example, actuators based on hydrogels have impressive deformability and responsiveness. Studies into hydrogels with autonomous locomotive abilities, however, are limited. Existing hydrogels achieve locomotion through the application of cyclical stimuli or chemical modifications. Here, we report the fabrication of active hydrogels with an intrinsic ability to move on the surface of water without operated stimuli for up to 3.5 hours. The active hydrogels were composed of hydrophobic and hydrophilic groups and underwent a dynamic wetting process to achieve spatial and temporal control of surface tension asymmetry. Using surface tension, the homogeneous active hydrogels propelled themselves and showed controlled locomotion on water, similar to common water striders.

Impact of surface charge on the motion of light-activated Janus micromotors

Control over micromotors' motion is of high relevance for lab-on-a-chip and biomedical engineering, wherein such particles encounter complex microenvironments. Here, we introduce an efficient way to influence Janus micromotors' direction of motion and speed by modifying their surface properties and those of their immediate surroundings. We fabricated light-responsive Janus micromotors with positive and negative surface charge, both driven by ionic self-diffusiophoresis. These were used to observe direction-of-motion reversal in proximity to glass substrates for which we varied the surface charge. Quantitative analysis allowed us to extract the dependence of the particle velocity on the surface charge density of the substrate. This constitutes the first quantitative demonstration of the substrate's surface charge on the motility of the light-activated diffusiophoretic motors in water. We provide qualitative understanding of these observations in terms of osmotic flow along the substrate generated through the ions released by the propulsion mechanism. Our results constitute a crucial step in moving toward practical application of self-phoretic artificial micromotors.

Switching Propulsion Mechanisms of Tubular Catalytic Micromotors

Different propulsion mechanisms have been suggested for describing the motion of a variety of chemical micromotors, which have attracted great attention in the last decades due to their high efficiency and thrust force, enabling several applications in the fields of environmental remediation and biomedicine. Bubble-recoil based motion, in particular, has been modeled by three different phenomena: capillary forces, bubble growth, and bubble expulsion. However, these models have been suggested independently based on a single influencing factor (i.e., viscosity), limiting the understanding of the overall micromotor performance. Therefore, the combined effect of medium viscosity, surface tension, and fuel concentration is analyzed on the micromotor swimming ability, and the dominant propulsion mechanisms that describe its motion more accurately are identified. Using statistically relevant experimental data, a holistic theoretical model is proposed for bubble-propelled tubular catalytic micromotors that includes all three above-mentioned phenomena and provides deeper insights into their propulsion physics toward optimized geometries and experimental conditions.

Synergistic Speed Enhancement of an Electric-Photochemical Hybrid Micromotor by Tilt Rectification

A hybrid micromotor is an active colloid powered by more than one power source, often exhibiting expanded functionality and controllability than those of a singular energy source. However, these power sources are often applied orthogonally, leading to stacked propulsion that is just a sum of two independent mechanisms. Here, we report that TiO₂-Pt Janus micromotors, when subject to both UV light and AC electric fields, move up to 90% faster than simply adding up the speed powered by either source. This unexpected synergy between light and electric fields, we propose, arises from the fact that an electrokinetically powered TiO₂-Pt micromotor moves near a substrate with a tilted Janus interface that, upon the application of an electric field, becomes rectified to be vertical to the substrate. Control experiments with magnetic fields and three types of micromotors unambiguously and quantitatively show that the tilting angle of a micromotor correlates positively with its instantaneous speed, reaching maximum at a vertical Janus interface. Such "tilting-induced retardation" could affect a wide variety of chemically powered micromotors, and our findings are therefore helpful in understanding the dynamics of micromachines in confinement.

Confined Bubble-Propelled Microswimmers in Capillaries: Wall Effect, Fuel Deprivation, and Exhaust Product Excess

Self-propelled autonomous nano/microswimmers are at the forefront of materials science. These swimmers are expected to operate in highly confined environments, such as between the grains of soil or in the capillaries of the human organism. To date, little attention is paid to the problem that in such a confined environment the fuel powering catalytic nano/microswimmers can be exhausted quickly and the space can be polluted with the product of the catalytic reaction. In addition, the motion of the nano/microswimmers may be influenced by the confinement. These issues are addressed here, showing the influence of the size of the capillary and length of the micromotor on the motion and the influence of the depletion of the fuel and excess of the exhaust products. Theoretical modeling is provided as well to bring further insight into the observations. This article shows challenges that these systems face and stimulates research to overcome them.

A practical guide to active colloids: choosing synthetic model systems for soft matter physics research

Synthetic active colloids that harvest energy stored in the environment and swim autonomously are a popular model system for active matter. This emerging field of research sits at the intersection of materials chemistry, soft matter physics, and engineering, and thus cross-talk among researchers from different backgrounds becomes critical yet difficult. To facilitate this interdisciplinary communication, and to help soft matter physicists with choosing the best model system for their research, we here present a tutorial review article that describes, in appropriate detail, six experimental systems of active colloids commonly found in the physics literature. For each type, we introduce their background, material synthesis and operating mechanisms and notable studies from the soft matter community, and comment on their respective advantages and limitations. In addition, the main features of each type of active colloid are summarized into two useful tables. As materials chemists and engineers, we intend for this article to serve as a practical guide, so those who are not familiar with the experimental aspects of active colloids can make more informed decisions and maximize their creativity.

Active matter therapeutics

Nanotherapies based on micelles, liposomes, polymersomes, nanocapsules, magnetic nanoparticles, and noble metal nanoparticles have been at the forefront of drug delivery in the past few decades. Some of these nanopharmaceuticals have been commercially applied to treat a wide range of diseases, from dry eye syndrome to cancer. However, the majority involve particles that are passive, meaning that they do not change shape, and they lack motility; the static features can limit their therapeutic efficacy. In this review, we take a critical look at an emerging field that seeks to utilize active matter for therapeutics. In this context, active matter can be broadly referred to as micro or nanosized constructs that energetically react with their environment or external fields and translate, rotate, vibrate or change shape. Essentially, the recent literature suggests that such particles could significantly augment present-day drug delivery, by enhancing transport and increasing permeability across anatomical barriers by transporting drugs within solid tumor microenvironments or disrupting cardiovascular plaque. We discuss examples of such particles and link the transport and permeability properties of active matter to potential therapeutic applications in the context of two major diseases, namely cancer and heart disease. We also discuss potential challenges, opportunities, and translational hurdles.

Temporal Light Modulation of Photochemically Active, Oscillating Micromotors: Dark Pulses, Mode Switching, and Controlled Clustering

Photochemically powered micromotors are prototype microrobots, and spatiotemporal control is pivotal for a wide range of potential applications. Although their spatial navigation has been extensively studied, temporal control of photoactive micromotors remains much less explored. Using Ag-based oscillating micromotors as a model system, a strategy is presented for the controlled modulation of their individual and collective dynamics via periodically switching illumination on and off. In particular, such temporal light modulation drives individual oscillating micromotors into a total of six regimes of distinct dynamics, as the light-toggling frequencies vary from 0 to 10³ Hz. On an ensemble level, toggling light at 5 Hz gives rise to controlled, reversible clustering of oscillating micromotors and self-assembly of tracer microspheres into colloidal crystals. A qualitative mechanism based on Ag-catalyzed decomposition of H₂O₂ is given to account for some, but not all, of the above observations. This study might potentially inspire more sophisticated temporal control of micromotors and the development of smart, biomimetic materials that respond to environmental stimuli that not only change in space but also in time.

Confined 1D Propulsion of Metallodielectric Janus Micromotors on Microelectrodes under Alternating Current Electric Fields

There is mounting interest in synthetic microswimmers ("micromotors") as microrobots as well as a model system for the study of active matters, and spatial navigation is critical for their success. Current navigational technologies mostly rely on magnetic steering or guiding with physical boundaries, yet limitations with these strategies are plenty. Inspired by an earlier work with magnetic domains on a garnet film as predefined tracks, we present an interdigitated microelectrodes (IDE) system where, upon the application of AC electric fields, metallodielectric (e.g., SiO₂-Ti) Janus particles are hydrodynamically confined and electrokinetically propelled in one dimension along the electrode center lines with tunable speeds. In addition, comoving micromotors moved in single files, while those moving in opposite directions primarily reoriented and moved past each other. At high particle densities, turbulence-like aggregates formed as many-body interactions became complicated. Furthermore, a micromotor made U-turns when approaching an electrode closure, while it gradually slowed down at the electrode opening and was collected in large piles. Labyrinth patterns made of serpentine chains of Janus particles emerged by modifying the electrode configuration. Most of these observations can be qualitatively understood by a combination of electroosmotic flows pointing inward to the electrodes, and asymmetric electrical polarization of the Janus particles under an AC electric field. Emerging from these observations is a strategy that not only powers and confines micromotors on prefabricated tracks in a contactless, on-demand manner, but is also capable of concentrating active particles at predefined locations. These features could prove useful for designing tunable tracks that steer synthetic microrobots, as well as to enable the study of single file diffusion, active turbulence, and other collective behaviors of active matters.