Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish

Ultrasound-activated cilia for biofilm control in indwelling medical devices

Biofilm formation and encrustation are major issues in indwelling medical devices, such as urinary stents and catheters, as they lead to blockages and infections. Currently, to limit these effects, frequent replacements of these devices are necessary, resulting in a significant reduction in patients' quality of life and an increase in healthcare costs. To address these challenges, by leveraging recent advancements in robotics and microfluidic technologies, we envision a self-cleaning system for indwelling medical devices equipped with bioinspired ultrasound-activated cilia. These cilia could be regularly activated transcutaneously by ultrasound, generating steady streaming, which can be used to remove encrusted deposits. In this study, we tested the hypothesis that the generated streaming can efficiently remove encrustations and biofilm from surfaces. To this end, we developed a microfluidic model featuring ultrasound-activated cilia on its wall. We showed that upon ultrasound activation, the cilia generated intense, steady streaming, reaching fluid velocity up to 10 mm/s. In all our experiments, this mechanism was able to efficiently clean typical encrustation (calcium carbonate and oxalate) and biofilm found in urological devices. The generated shear forces released, broke apart, and flushed away encrusted deposits. These findings suggest a broad potential for ultrasound-activated cilia in the maintenance of various medical devices. Compared to existing methods, our approach could reduce the need for invasive procedures, potentially lowering infection risks and enhancing patient comfort.

Topological acoustofluidics

The complex interaction of spin, valley and lattice degrees of freedom allows natural materials to create exotic topological phenomena. The interplay between topological wave materials and hydrodynamics could offer promising opportunities for visualizing topological physics and manipulating bioparticle unconventionally. Here we present topological acoustofluidic chips to illustrate the complex interaction between elastic valley spin and nonlinear fluid dynamics. We created valley streaming vortices and chiral swirling patterns for backward-immune particle transport. Using tracer particles, we observed arrays of clockwise and anticlockwise valley vortices due to an increase in elastic spin density. Moreover, we discovered exotic topological pressure wells in fluids, creating nanoscale trapping fields for manipulating DNA molecules. We also found a 93.2% modulation in the bandwidth of edge states, dependent on the orientation of the substrate's crystallographic structure. Our study sets the stage for uncovering topological acoustofluidic phenomena and visualizing elastic valley spin, revealing the potential for topological-material applications in life sciences.

Configurable Vibrational Coupling in Laser-Induced Microsecond Oscillations of Multi-Microbubble System

Microbubbles in liquids dynamically change their volumes through iterative vaporization and gas compression, driving highly localized (≈5 µm) and rapidly oscillating (≈1 MHz) flows. In contrast to an isolated bubble, closely spaced multiple bubbles can potentially induce not only stronger flows but also more complex flow profiles that are spatially and temporally regulated. However, precise on-demand control of bubble distance and the associated interactions between bubbles has remained elusive, limiting their applications in microfluidics. This study demonstrates the induction of two laser-induced microbubbles with configurable separations ranging from 14 to 92 µm with 1 µm precision. These microbubbles self-oscillating at sub-MHz frequencies are generated via photothermal heating, and their dynamics are captured in real-time using a high-speed camera. When the bubbles are in proximity (< 50 µm), their oscillation profiles are in stark contrast to those of an isolated bubble, exhibiting hybridized in-phase and anti-phase vibrations. The distance-dependent evolution of the coupled oscillation frequency, ranging from 0.5 to 0.8 MHz is quantitatively reproduced, using an extended Rayleigh-Plesset equation that accounts for pressure interactions. The findings pave the way for leveraging multiple microbubble arrays to generate complex yet well-regulated spatiotemporal flows previously unattainable in microfluidics.

Starfish-Inspired Synergistic Reinforced Hydrogel Wound Dressing: Dual Responsiveness and Enhanced Bioactive Compound Delivery for Advanced Skin Regeneration and Management

Effective wound management demands advanced dressings that protect while actively supporting healing. Traditional wound dressings often fall short of meeting the complex needs of skin repair. Inspired by the regenerative abilities of starfish, we developed a bionically engineered hydrogel designed to enhance wound healing. The hydrogel is synthesized through the coassembly of dopamine-modified cellulose nanofibers, chitosan, (3-aminobenzeneboronic acid)-grafted oxidized dextran, and poly(vinyl alcohol), utilizing dynamic Schiff base and boronic ester linkages. This innovative design imparts multifunctional properties, including injectability, 3D printability, antibacterial activity, self-adhesion, self-healing, antioxidant protection, and hemostasis, which emulate the defense mechanisms and regenerative processes of starfish. These characteristics work synergistically to reduce infection and oxidative stress and improve healing efficiency. Additionally, the hydrogel incorporates mangiferin and Vitamin C, which are released in a controlled manner in response to the wound's microenvironment (pH and reactive oxygen species), promoting tissue regeneration and reducing inflammation. In vitro tests confirmed its dual responsiveness, while finite element modeling validated the controlled release of bioactive compounds. In vivo testing on a rat full-thickness wound model showed a 100% healing rate by day 13, significantly outperforming commercial alternatives. The hydrogel's nontoxicity and advanced healing capabilities make it a promising solution for patients with critical healing needs, offering a comprehensive integration of natural biological processes and cutting-edge engineering.

Research advances of acoustic particle manipulation techniques in field-assisted manufacturing

Field-assisted manufacturing (FAM) technology, which employs external fields to transport and manipulate micro/nanoparticles for tailored arrangements and structures, can produce novel materials with specific properties and functions. Acoustic particle manipulation has attracted increasing attention in FAM due to its various advantages, such as a wide range of materials, ease of fabrication, rapid actuation, non-invasive operation and high biocompatibility. The present review summarizes the recent progress of acoustic particle manipulation in the FAM area, with respect to operation principles, fabrication and control of particles, and particle cluster patterning. The emphasis is placed on the recent innovative applications of microparticle manipulation realized by acoustic fields in different advanced manufacturing technologies. Finally, we provide our perspective on the current challenges and potential prospects of acoustic particle manipulation technology in FAM.

Emerging Wearable Acoustic Sensing Technologies

Sound signals not only serve as the primary communication medium but also find application in fields such as medical diagnosis and fault detection. With public healthcare resources increasingly under pressure, and challenges faced by disabled individuals on a daily basis, solutions that facilitate low-cost private healthcare hold considerable promise. Acoustic methods have been widely studied because of their lower technical complexity compared to other medical solutions, as well as the high safety threshold of the human body to acoustic energy. Furthermore, with the recent development of artificial intelligence technology applied to speech recognition, speech recognition devices, and systems capable of assisting disabled individuals in interacting with scenes are constantly being updated. This review meticulously summarizes the sensing mechanisms, materials, structural design, and multidisciplinary applications of wearable acoustic devices applied to human health and human-computer interaction. Further, the advantages and disadvantages of the different approaches used in flexible acoustic devices in various fields are examined. Finally, the current challenges and a roadmap for future research are analyzed based on existing research progress to achieve more comprehensive and personalized healthcare.

Swarm Autonomy: From Agent Functionalization to Machine Intelligence

Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.

Zombie diatoms: acoustically powered diatom frustule bio-templated microswimmers

Frustules, or the silica based cell walls of diatomaceous algae Aulacoseira granulata, provide large numbers of reliably cylindrical microstructures with an inner cavity and surface chemistry suitable for constructing bubble-based, acoustically-powered micro-swimmers. In this way, microswimmers can be made in a scalable, accessible and low-cost manner, enabling studies of their individual and collective behavior as active colloids.

SonoPrint: Acoustically Assisted Volumetric 3D Printing for Composites

Advances in additive manufacturing in composites have transformed aerospace, medical devices, tissue engineering, and electronics. A key aspect of enhancing properties of 3D-printed objects involves fine-tuning the material by embedding and orienting reinforcement within the structure. Existing methods for orienting these reinforcements are limited by pattern types, alignment, and particle characteristics. Acoustics offers a versatile method to control the particles independent of their size, geometry, and charge, enabling intricate pattern formations. However, integrating acoustics into 3D printing has been challenging due to the scattering of the acoustic field between polymerized layers and unpolymerized resin, resulting in unwanted patterns. To address this challenge, SonoPrint, an innovative acoustically assisted volumetric 3D printer is developed that enables simultaneous reinforcement patterning and printing of the entire structure. SonoPrint generates mechanically tunable composite geometries by embedding reinforcement particles, such as microscopic glass, metal, and polystyrene, within the fabricated structure. This printer employs a standing wave field to create targeted particle motifs-including parallel lines, radial lines, circles, rhombuses, hexagons, and polygons-directly in the photosensitive resin, completing the print in just a few minutes. SonoPrint enhances structural properties and promises to advance volumetric printing, unlocking applications in tissue engineering, biohybrid robots, and composite fabrication.

Airborne Acoustic Vortex End Effector-based Contactless, Multi-mode, Programmable Control of Object Surfing

Tweezers based on optical, electric, magnetic, and acoustic fields have shown great potential for contactless object manipulation. However, current tweezers designed for manipulating millimeter-sized objects such as droplets, particles, and small animals, exhibit limitations in translation resolution, range, and path complexity. Here, we introduce a novel acoustic vortex tweezers system, which leverages a unique airborne acoustic vortex end effector integrated with a three degree-of-freedom (DoF) linear motion stage, for enabling contactless, multi-mode, programmable manipulation of millimeter-sized objects. The acoustic vortex end effector utilizes a cascaded circular acoustic array, which is portable and battery-powered, to generate an acoustic vortex with a ring-shaped energy pattern. The vortex applies acoustic radiation forces to trap and spin an object at its center, simultaneously protecting this object by repelling other materials away with its high-energy ring. Moreover, our vortex tweezers system facilitates contactless, multi-mode, programmable object surfing, as demonstrated in experiments involving trapping, repelling, and spinning particles, translating particles along complex paths, guiding particles around barriers, translating and rotating droplets containing zebrafish larvae, and merging droplets. With these capabilities, we anticipate that our tweezers system will become a valuable tool for the automated, contactless handling of droplets, particles, and bio-samples in biomedical and biochemical research.

Innovating Indwelling Catheter Design to Counteract Urinary Tract Infection

BACKGROUND AND OBJECTIVE

Bacteriuria is anticipated in long-term indwelling catheter (IDC) use, and urinary tract infections (UTIs) and related issues are common. Defence mechanisms against infection are undermined by the presence of a Foley catheter, and adjustments to design could influence UTI risk.

METHODS

We reviewed the various aspects of IDCs and ureteric stent designs to discuss potential impact on UTI risk.

KEY FINDINGS AND LIMITATIONS

Design adaptations have focussed on reducing the sump of undrained urine, potential urinary tract trauma, and bacterial adherence. Experimental and computational studies on ureteral stents found an interplay between urine flow, bacterial microcolony formation, and accumulation of encrusting particles. The most critical regions for biofilm and crystal accumulation are associated with low shear stress. The full drainage system is the functioning unit, not just the IDC in isolation. This means reliably keeping the drainage system closed and considering whether a valve is preferred to a collection bag. Other developments may include one-way valves, obstacles to "bacterial swimming", and ultrasound techniques. Preventing or clearing IDC blockage can exploit access via the lumen or retaining balloon. Progress in computational fluid dynamics, energy delivery, and soft robotics may increase future options. Clinical data on the effectiveness of IDC design features are lacking, which is partly due to reliance on proxy measures and the challenges of undertaking trials.

CONCLUSIONS AND CLINICAL IMPLICATIONS

Design changes are legitimate lines of development, but are only indirect for UTI prevention. Modifications may be advantageous, but might potentially bring problems in other ways. Education of health care professionals can improve UTIs and should be prioritised.

PATIENT SUMMARY

Catheters used to help bladder drainage can cause urinary infections, and improvements in design might reduce the risk. Several approaches are described in this review. However, proving that these approaches work is a challenge. Training professionals in the key aspects of catheter care is important.

Spermatozoon-propelled microcellular submarines combining innate magnetic hyperthermia with derived nanotherapies for thrombolysis and ischemia mitigation

Thrombotic cardiovascular diseases are a prevalent factor contributing to both physical impairment and mortality. Thrombolysis and ischemic mitigation have emerged as leading contemporary therapeutic approaches for addressing the consequences of ischemic injury and reperfusion damage. Herein, an innovative cellular-cloaked spermatozoon-driven microcellular submarine (SPCS), comprised of multimodal motifs, was designed to integrate nano-assembly thrombolytics with an immunomodulatory ability derived from innate magnetic hyperthermia. Rheotaxis-based navigation was utilized to home to and cross the clot barrier, and finally accumulate in ischemic vascular organs, where the thrombolytic motif was "switched-on" by the action of thrombus magnetic red blood cell-driven magnetic hyperthermia. In a murine model, the SPCS system combining innate magnetic hyperthermia demonstrated the capacity to augment delivery efficacy, produce nanotherapeutic outcomes, exhibit potent thrombolytic activity, and ameliorate ischemic tissue damage. These findings underscore the multifaceted potential of our designed approach, offering both thrombolytic and ischemia-mitigating effects. Given its extended therapeutic effects and thrombus-targeting capability, this biocompatible SPCS system holds promise as an innovative therapeutic agent for enhancing efficacy and preventing risks after managing thrombosis.

Bipolar Photoelectrochemistry for Phase-Modulated Optoelectronic Hybrid Nanomotor

Complex micro/nanorobots may be constructed by integrating several independent, controlled nanomotors for high degrees of freedom of maneuvering and manipulation. However, designing nanomotors with distinctive responses to the same global stimuli is challenging due to the nanomotors' simple structure and limited material composition. In this work, we demonstrate that a nanomotor can be designed with the same principles of electronic circuits, where the motion of semiconductor particles can be controlled with synchronized electric and optical signals. This technique relies on transient bipolar photoelectrochemistry in semiconductor microparticles, where the reaction site selectivity is realized by modulating the light pulse in the time domain. Due to the microparticles' intrinsic resistance and surface capacitance, the nanomotors can be designed as an electronic circuit, enabling distinctive responses to the global electric/optical field and achieving the desired movement or deflection/rotation. This work gives new insight into the manipulation technique for independent and untethered nanomotor control. Ultimately, it exploits the potential for particle sorting based on geometry in time and frequency domain modulation.

Acoustophoresis-driven particle focusing and separation with standard/inverse Chladni patterns

Manipulating objects with acoustics has been developed for hundreds of years since Chladni patterns in gaseous environments were exhibited. In recent decades, acoustic manipulation in microfluidics, known as acoustofluidics, has rapidly thrived and many sophisticated technologies were born. However, the basic background motion of particles under acoustic excitation is usually neglected and the classical Chladni patterns haven't been reproduced in an aqueous environment. In this study, we investigated the basic mechanism and the motion of suspended particles and sinking particles in a plain microchamber under low-frequency excitation (3-5 kHz). The mechanisms were clearly distinguished by comparing the differences among colored fluids, suspended particles, and sinking particles. The suspended particles rotated around the antinode with a speed up to 55.1 μm s-1 at 100 Vpp by the acoustic streaming and they approached each other by the secondary acoustic radiation force. The sinking particles concentrated at the node with a speed up to 22.3 μm s-1 at 100 Vpp by bouncing on the vibrating surface and the primary acoustic radiation force. We have reproduced the classical standard/inverse Chladni patterns in an aqueous environment for the first time, and they were leveraged to separate SiO2 particles with different sizes. The big particles with an average diameter of 9.68 μm were concentrated at the node while the small particles with an average diameter of 2.72 μm were collected at the antinode within 2 min. These results not only provide insightful perspectives of basic mechanisms, but also open up new possibilities for advanced acoustic tweezers.

Meta-Lens Particle Image Velocimetry

Fluid flow behavior is visualized through particle image velocimetry (PIV) for understanding and studying experimental fluid dynamics. However, traditional PIV methods require multiple cameras and conventional lens systems for image acquisition to resolve multi-dimensional velocity fields. In turn, it introduces complexity to the entire system. Meta-lenses are advanced flat optical devices composed of artificial nanoantenna arrays. It can manipulate the wavefront of light with the advantages of ultrathin, compact, and no spherical aberration. Meta-lenses offer novel functionalities and promise to replace traditional optical imaging systems. Here, a binocular meta-lens PIV technique is proposed, where a pair of GaN meta-lenses are fabricated on one substrate and integrated with a imaging sensor to form a compact binocular PIV system. The meta-lens weigh only 116 mg, much lighter than commercial lenses. The 3D velocity field can be obtained by the binocular disparity and particle image displacement information of fluid flow. The measurement error of vortex-ring diameter is ≈1.25% experimentally validates via a Reynolds-number (Re) 2000 vortex-ring. This work demonstrates a new development trend for the PIV technique for rejuvenating traditional flow diagnostic tools toward a more compact, easy-to-deploy technique. It enables further miniaturization and low-power systems for portable, field-use, and space-constrained PIV applications.

AcousticRobots: Smart acoustically powered micro-/nanoswimmers for precise biomedical applications

Although nanotechnology has evolutionarily progressed in biomedical field over the past decades, achieving satisfactory therapeutic effects remains difficult with limited delivery efficiency. Ultrasound could provide a deep penetration and maneuverable actuation to efficiently power micro-/nanoswimmers with little harm, offering an emerging and fascinating alternative to the active delivery platform. Recent advances in novel fabrication, controllable concepts like intelligent swarm and the integration of hybrid propulsions have promoted its function and potential for medical applications. In this review, we will summarize the mechanisms and types of ultrasonically propelled micro/nanorobots (termed here as "AcousticRobots"), including the interactions between AcousticRobots and acoustic field, practical design considerations (e.g., component, size, shape), the synthetic methods, surface modification, controllable behaviors, and the advantages when combined with other propulsion approaches. The representative biomedical applications of functional AcousticRobots are also highlighted, including drug delivery, invasive surgery, eradication on the surrounding bio-environment, cell manipulation, detection, and imaging, etc. We conclude by discussing the challenges and outlook of AcousticRobots in biomedical applications.

Mimicking Motor Proteins: Wall-Guided Self-Navigation of Microwheels

Untethered micro/nanorobots (MNRs) show great promise in biomedicine. However, high-precision targeted in vivo navigation of MNRs into both deep and tiny microtube networks comes with big challenges because the present medical imaging cannot simultaneously meet the requirements of high resolution, high penetration depth, and high real-time performance. Inspired by intracellular motor proteins that transport cargo along cytoskeletal tracks, this study proposed a microtube inwall-guided targeted self-navigation strategy of magnetic microwheels (μ-wheels) that relies only on interactions with a microtube inwall, compared to conventional techniques that rely on real-time imaging and tracking of MNRs. By presetting the direction of the rotating magnetic field, the μ-wheel realized targeted navigation along the inwall. The propulsion principles behind it are elaborated. The targeted self-navigation of the μ-wheels in three-dimensional microtube networks, a spiral microtube, and an intrahepatic bile duct of a pig was conducted. Lastly, based on the strategy, a practical tumor early detection method was proposed and verified by means of magnetic resonance imaging. The microtube inwall-guided targeted self-navigation strategy reduces the dependence of in vivo targeted navigation of MNRs on the real-time performance of medical imaging technology and greatly contributes to the development of MNRs in biomedical applications.

Bioinspired 3D flexible devices and functional systems

Flexible devices and functional systems with elaborated three-dimensional (3D) architectures can endow better mechanical/electrical performances, more design freedom, and unique functionalities, when compared to their two-dimensional (2D) counterparts. Such 3D flexible devices/systems are rapidly evolving in three primary directions, including the miniaturization, the increasingly merged physical/artificial intelligence and the enhanced adaptability and capabilities of heterogeneous integration. Intractable challenges exist in this emerging research area, such as relatively poor controllability in the locomotion of soft robotic systems, mismatch of bioelectronic interfaces, and signal coupling in multi-parameter sensing. By virtue of long-time-optimized materials, structures and processes, natural organisms provide rich sources of inspiration to address these challenges, enabling the design and manufacture of many bioinspired 3D flexible devices/systems. In this Review, we focus on bioinspired 3D flexible devices and functional systems, and summarize their representative design concepts, manufacturing methods, principles of structure-function relationship and broad-ranging applications. Discussions on existing challenges, potential solutions and future opportunities are also provided to usher in further research efforts toward realizing bioinspired 3D flexible devices/systems with precisely programmed shapes, enhanced mechanical/electrical performances, and high-level physical/artificial intelligence.

Recent progress on the development of bioinspired surfaces with high aspect ratio microarray structures: From fabrication to applications

Surfaces with high aspect ratio microarray structures can implement sophisticated assignment in typical fields including microfluidics, sensor, biomedicine, et al. via regulating their deformation or the material properties. Inspired by natural materials and systems, for example sea cockroaches, water spiders, cacti, lotus leaves, rice leaves, and cedar leaves, many researchers have focused on microneedle functional surface studies. When the surface with high aspect ratio microarray structures is stimulated by the external fields, such as optical, electric, thermal, magnetic, the high aspect ratio microarray structures can undergo hydrophilic and hydrophobic switching or shape change, which may be gifted the surfaces with the ability to perform complex task, including directional liquid/air transport, targeted drug delivery, microfluidic chip sensing. In this review, the fabrication principles of various surfaces with high aspect ratio microarray structures are classified and summarized. Mechanisms of liquid manipulation on hydrophilic/hydrophobic surfaces with high aspect ratio microarray structures are clarified based on Wenzel model, Cassie model, Laplace pressure theories and so on. Then the intelligent control strategies have been demonstrated. The applications in microfluidic, drug delivery, patch sensors have been discussed. Finally, current challenges and new insights of future prospects for dynamic manipulation of liquid/air based on biomimetic surface with high aspect ratio microarray structures are also addressed.

Colloidal Self-Assembly: From Passive to Active Systems

Self-assembly fundamentally implies the organization of small sub-units into large structures or patterns without the intervention of specific local interactions. This process is commonly observed in nature, occurring at various scales ranging from atomic/molecular assembly to the formation of complex biological structures. Colloidal particles may serve as micrometer-scale surrogates for studying assembly, particularly for the poorly understood kinetic and dynamic processes at the atomic scale. Recent advances in colloidal self-assembly have enabled the programmable creation of novel materials with tailored properties. We here provide an overview and comparison of both passive and active colloidal self-assembly, with a discussion on the energy landscape and interactions governing both types. In the realm of passive colloidal assembly, many impressive and important structures have been realized, including colloidal molecules, one-dimensional chains, two-dimensional lattices, and three-dimensional crystals. In contrast, active colloidal self-assembly, driven by optical, electric, chemical, or other fields, involves more intricate dynamic processes, offering more flexibility and potential new applications. A comparative analysis underscores the critical distinctions between passive and active colloidal assemblies, highlighting the unique collective behaviors emerging in active systems. These behaviors encompass collective motion, motility-induced phase segregation, and exotic properties arising from out-of-equilibrium thermodynamics. Through this comparison, we aim to identify the future opportunities in active assembly research, which may suggest new application domains.

A vibrating capillary for ultrasound rotation manipulation of zebrafish larvae

Multifunctional micromanipulation systems have garnered significant attention due to the growing interest in biological and medical research involving model organisms like zebrafish (Danio rerio). Here, we report a novel acoustofluidic rotational micromanipulation system that offers rapid trapping, high-speed rotation, multi-angle imaging, and 3D model reconstruction of zebrafish larvae. An ultrasound-activated oscillatory glass capillary is used to trap and rotate a zebrafish larva. Simulation and experimental results demonstrate that both the vibrating mode and geometric placement of the capillary contribute to the developed polarized vortices along the long axis of the capillary. Given its capacities for easy-to-operate, stable rotation, avoiding overheating, and high-throughput manipulation, our system poses the potential to accelerate zebrafish-directed biomedical research.

SonoTransformers: Transformable acoustically activated wireless microscale machines

Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.

Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion

Small-scale magnetic soft-bodied robots can be designed to operate based on different locomotion modes to navigate and function inside unstructured, confined and varying environments. These soft millirobots may be useful for medical applications where the robots are tasked with moving inside the human body. Here we cover the entire process of developing small-scale magnetic soft-bodied millirobots with multimodal locomotion capability, including robot design, material preparation, robot fabrication, locomotion control and locomotion optimization. We describe in detail the design, fabrication and control of a sheet-shaped soft millirobot with 12 different locomotion modes for traversing different terrains, an ephyra jellyfish-inspired soft millirobot that can manipulate objects in liquids through various swimming modes, a larval zebrafish-inspired soft millirobot that can adjust its body stiffness for efficient propulsion in different swimming speeds and a dual stimuli-responsive sheet-shaped soft millirobot that can switch its locomotion modes automatically by responding to changes in the environmental temperature. The procedure is aimed at users with basic expertise in soft robot development. The procedure requires from a few days to several weeks to complete, depending on the degree of characterization required.

Purcell's swimmers in pairs

We investigate the effects of hydrodynamic interactions between microorganisms swimming at low Reynolds numbers, treating them as a control system. We employ Lie brackets analysis to examine the motion of two neighboring three-link swimmers interacting through the ambient fluid in which they propel themselves. Our analysis reveals that the hydrodynamic interaction has a dual consequence: on one hand, it diminishes the system's efficiency; on the other hand, it dictates that the two microswimmers must synchronize their motions to attain peak performance. Our findings are further corroborated by numerical simulations of the governing equations of motion.

Ultrasound robotics for precision therapy

In recent years, the application of microrobots in precision therapy has gained significant attention. The small size and maneuverability of these micromachines enable them to potentially access regions that are difficult to reach using traditional methods; thus, reducing off-target toxicities and maximizing treatment effectiveness. Specifically, acoustic actuation has emerged as a promising method to exert control. By harnessing the power of acoustic energy, these small machines potentially navigate the body, assemble at the desired sites, and deliver therapies with enhanced precision and effectiveness. Amidst the enthusiasm surrounding these miniature agents, their translation to clinical environments has proven difficult. The primary objectives of this review are threefold: firstly, to offer an overview of the fundamental acoustic principles employed in the field of microrobots; secondly, to assess their current applications in medical therapies, encompassing tissue targeting, drug delivery or even cell infiltration; and lastly, to delve into the continuous efforts aimed at integrating acoustic microrobots into in vivo applications.

Acoustic Actuators for the Manipulation of Micro/Nanorobots: State-of-the-Art and Future Outlooks

Compared to other actuating methods, acoustic actuators offer the distinctive capability of the contactless manipulation of small objects, such as microscale and nanoscale robots. Furthermore, they have the ability to penetrate the skin, allowing for the trapping and manipulation of micro/nanorobots that carry therapeutic agents in diverse media. In this review, we summarize the current progress in using acoustic actuators for the manipulation of micro/nanorobots used in various biomedical applications. First, we introduce the actuating method of using acoustic waves to manipulate objects, including the principle of operation and different types of acoustic actuators that are usually employed. Then, applications involving manipulating different types of devices are reviewed, including bubble-based microrobots, bubble-free robots, biohybrid microrobots, and nanorobots. Finally, we discuss the challenges and future perspectives for the development of the field.

Steerable acoustically powered starfish-inspired microrobot

Soft polymeric microrobots that can be loaded with nanocargoes and driven via external field stimuli can provide innovative solutions in various fields, including precise microscale assembly, targeted therapeutics, microsurgery, and the capture and degradation of unwanted wastewater fragments. However, in aquatic environments, it remains challenging to operate with microrobotic devices due to the predominant viscous resistances and the robots' limited actuation and sensing capabilities attributed to their miniaturization. The miniature size prevents the incorporation of onboard batteries that can provide sufficient power for propulsion and navigation, necessitating a wireless power supply. Current research examines untethered microrobot manipulation using external magnetic, electric, thermodynamic, or acoustic field-guided technologies: all strategies capable of wireless energy transmission towards sensitive and hard-to-reach locations. Nonetheless, developing a manipulation strategy that harnesses simple-to-induce strong propulsive forces in a stable manner over extended periods of time remains a significant endeavor. This study presents the fabrication and manipulation of a microrobot consisting of a magnetized soft polymeric composite material that enables a combination of stable acoustic propulsion through starfish-inspired artificial cilia and magnetic field-guided navigation. The acousto-magnetic manipulation strategy leverages the unique benefits of each applied field in the viscous-dominated microscale, namely precise magnetic orientation and strong acoustic thrust.

Acoustically Powered Nano- and Microswimmers: From Individual to Collective Behavior

Micro- and nanoscopic particles that swim autonomously and self-assemble under the influence of chemical fuels and external fields show promise for realizing systems capable of carrying out large-scale, predetermined tasks. Different behaviors can be realized by tuning swimmer interactions at the individual level in a manner analogous to the emergent collective behavior of bacteria and mammalian cells. However, the limited toolbox of weak forces with which to drive these systems has made it difficult to achieve useful collective functions. Here, we review recent research on driving swimming and particle self-organization using acoustic fields, which offers capabilities complementary to those of the other methods used to power microswimmers. With either chemical or acoustic propulsion (or a combination of the two), understanding individual swimming mechanisms and the forces that arise between individual particles is a prerequisite to harnessing their interactions to realize collective phenomena and macroscopic functionality. We discuss here the ingredients necessary to drive the motion of microscopic particles using ultrasound, the theory that describes that behavior, and the gaps in our understanding. We then cover the combination of acoustically powered systems with other cross-compatible driving forces and the use of ultrasound in generating collective behavior. Finally, we highlight the demonstrated applications of acoustically powered microswimmers, and we offer a perspective on the state of the field, open questions, and opportunities. We hope that this review will serve as a guide to students beginning their work in this area and motivate others to consider research in microswimmers and acoustic fields.

pH-Responsive swimming behavior of light-powered rod-shaped micromotors

Micromotors have emerged as promising devices for a wide range of applications e.g., microfluidics, lab-on-a-chip devices, active matter, environmental monitoring, etc. The control over the activity of micromotors with the ability to exhibit multimode swimming is one of the most desirable features for many of the applications. Here, we demonstrate a rod-shaped light-driven micromotor whose activity and swimming behavior can easily be controlled. The rod-shaped micromotors are fabricated through the dynamic shadowing growth (DSG) technique, where a 2 μm long arm of titanium dioxide (TiO2) is grown over spherical silica (SiO2) particles (1 μm diameter). Under low-intensity UV light exposure, the micromotors exhibit self-propulsion in an aqueous peroxide medium. When activated, the swimming behavior of micromotors greatly depends on the pH of the medium. The swimming direction, i.e., forward or backward movement, as well as swimming modes like translational or rotational motion, can be controlled by changing the pH values. The observed dynamics has been rationalized using a theoretical model incorporating chemical activity, hydrodynamic flow, and the effect of gravity for a rod-shaped active particle near a planar wall. The pH-dependent translational and rotational dynamics of micromotors provide a versatile platform for achieving controlled and responsive behaviors. Continued research and development in this area hold great promise for advancing micromotors and enabling novel applications in microfluidics, micromachining, environmental sciences, and biomedicine.

Actuation-enhanced multifunctional sensing and information recognition by magnetic artificial cilia arrays

Artificial cilia integrating both actuation and sensing functions allow simultaneously sensing environmental properties and manipulating fluids in situ, which are promising for environment monitoring and fluidic applications. However, existing artificial cilia have limited ability to sense environmental cues in fluid flows that have versatile information encoded. This limits their potential to work in complex and dynamic fluid-filled environments. Here, we propose a generic actuation-enhanced sensing mechanism to sense complex environmental cues through the active interaction between artificial cilia and the surrounding fluidic environments. The proposed mechanism is based on fluid-cilia interaction by integrating soft robotic artificial cilia with flexible sensors. With a machine learning-based approach, complex environmental cues such as liquid viscosity, environment boundaries, and distributed fluid flows of a wide range of velocities can be sensed, which is beyond the capability of existing artificial cilia. As a proof of concept, we implement this mechanism on magnetically actuated cilia with integrated laser-induced graphene-based sensors and demonstrate sensing fluid apparent viscosity, environment boundaries, and fluid flow speed with a reconfigurable sensitivity and range. The same principle could be potentially applied to other soft robotic systems integrating other actuation and sensing modalities for diverse environmental and fluidic applications.

Acoustophoresis around an elastic scatterer in a standing wave field

Acoustofluidic systems often employ prefabricated acoustic scatterers that perturb the imposed acoustic field to realize the acoustophoresis of immersed microparticles. We present a numerical study to investigate the time-averaged streaming and radiation force fields around a scatterer. Based on the streaming and radiation force field, we obtain the trajectories of the immersed microparticles with varying sizes and identify a critical transition size at which the motion of immersed microparticles in the vicinity of a prefabricated scatterer shifts from being streaming dominated to radiation dominated. We consider a range of acoustic frequencies to reveal that the critical transition size decreases with increasing frequency; this result explains the choice of acoustic frequencies in previously reported experimental studies. We also examine the impact of scatterer material and fluid properties on the streaming and radiation force fields, as well as on the critical transition size. Our results demonstrate that the critical transition size decreases with an increase in acoustic contrast factor: a nondimensional quantity that depends on material properties of the scatterer and the fluid. Our results provide a pathway to realize radiation force based manipulation of small particles by increasing the acoustic contrast factor of the scatterer, lowering the kinematic viscosity of the fluid, and increasing the acoustic frequency.

An acoustically controlled helical microrobot

As a next-generation toolkit, microrobots can transform a wide range of fields, including micromanufacturing, electronics, microfluidics, tissue engineering, and medicine. While still in their infancy, acoustically actuated microrobots are becoming increasingly attractive. However, the interaction of acoustics with microstructure geometry is poorly understood, and its study is necessary for developing next-generation acoustically powered microrobots. We present an acoustically driven helical microrobot with a length of 350 μm and a diameter of 100 μm that is capable of locomotion using a fin-like double-helix microstructure. This microrobot responds to sound stimuli at ~12 to 19 kHz and mimics the spiral motion of natural microswimmers such as spirochetes. The asymmetric double helix interacts with the incident acoustic field, inducing a propulsion torque that causes the microrobot to rotate around its long axis. Moreover, our microrobot has the unique feature of its directionality being switchable by simply tuning the acoustic frequency. We demonstrate this locomotion in 2D and 3D artificial vasculatures using a single sound source.

Ultrasound trapping and navigation of microrobots in the mouse brain vasculature

The intricate and delicate anatomy of the brain poses significant challenges for the treatment of cerebrovascular and neurodegenerative diseases. Thus, precise local drug delivery in hard-to-reach brain regions remains an urgent medical need. Microrobots offer potential solutions; however, their functionality in the brain remains restricted by limited imaging capabilities and complications within blood vessels, such as high blood flows, osmotic pressures, and cellular responses. Here, we introduce ultrasound-activated microrobots for in vivo navigation in brain vasculature. Our microrobots consist of lipid-shelled microbubbles that autonomously aggregate and propel under ultrasound irradiation. We investigate their capacities in vitro within microfluidic-based vasculatures and in vivo within vessels of a living mouse brain. These microrobots self-assemble and execute upstream motion in brain vasculature, achieving velocities up to 1.5 µm/s and moving against blood flows of ~10 mm/s. This work represents a substantial advance towards the therapeutic application of microrobots within the complex brain vasculature.

A Review of Single-Cell Microrobots: Classification, Driving Methods and Applications

Single-cell microrobots are new microartificial devices that use a combination of single cells and artificial devices, with the advantages of small size, easy degradation and ease of manufacture. With externally driven strategies such as light fields, sound fields and magnetic fields, microrobots are able to carry out precise micromanipulations and movements in complex microenvironments. Therefore, single-cell microrobots have received more and more attention and have been greatly developed in recent years. In this paper, we review the main classifications, control methods and recent advances in the field of single-cell microrobot applications. First, different types of robots, such as cell-based microrobots, bacteria-based microrobots, algae-based microrobots, etc., and their design strategies and fabrication processes are discussed separately. Next, three types of external field-driven technologies, optical, acoustic and magnetic, are presented and operations realized in vivo and in vitro by applying these three technologies are described. Subsequently, the results achieved by these robots in the fields of precise delivery, minimally invasive therapy are analyzed. Finally, a short summary is given and current challenges and future work on microbial-based robotics are discussed.

Controllable adhesion behavior in underwater environments

Microstructure adhesive pads can effectively manipulate objects in underwater environments. Current adhesive pads can achieve adhesion and separation with rigid substrates underwater; however, challenges remain in the control of adhesion and detachment of flexible materials. Additionally, underwater object manipulation necessitates considerable pre-pressure and is sensitive to water temperature fluctuations, potentially causing object damage and complicating adhesion and detachment processes. Thus, we present a novel, controllable adhesive pad inspired by the functional attributes of microwedge adhesive pads, combined with a mussel-inspired copolymer (MAPMC). In the context of underwater applications for flexible materials, the use of a microstructure adhesion pad with microwedge characteristics (MAPMCs) is a proficient approach to adhesion and detachment operations. This innovative method relies on the precise manipulation of the microwedge structure's collapse and recovery during its operation, which serves as the foundation for its efficacy in such environments. MAPMCs exhibit self-recovering elasticity, water flow interaction, and tunable underwater adhesion and detachment. Numerical simulations elucidate the synergistic effects of MAPMCs, highlighting the advantages of the microwedge structure for controllable, non-damaging adhesion and separation processes. The integration of MAPMCs into a gripping mechanism allows for the handling of diverse objects in underwater environments. Furthermore, by merging MAPMCs and a gripper within a linked system, our approach enables automatic, non-damaging adhesion, manipulation, and release of a soft jellyfish model. The experimental results indicate the potential applicability of MACMPs in underwater operations.

Acoustic microbubble propulsion, train-like assembly and cargo transport

Achieving controlled mobility of microparticles in viscous fluids can become pivotal in biologics, biotechniques, and biomedical applications. The self-assembly, trapping, and transport of microparticles are being explored in active matter, micro and nanorobotics, and microfluidics; however, little work has been done in acoustics, particularly in active matter and robotics. This study reports the discovery and characterization of microbubble behaviors in a viscous gel that is confined to a slight opening between glass boundaries in an acoustic field. Where incident waves encounter a narrow slit, acoustic pressure is amplified, causing the microbubbles to nucleate and cavitate within it. Intermittent activation transforms microbubbles from spherical to ellipsoidal, allowing them to be trapped within the interstice. Continuous activation propels ellipsoidal microbubbles through shape and volume modes that is developed at their surfaces. Ensembles of microbubbles self-assemble into a train-like arrangement, which in turn capture, transport, and release microparticles.

Field-Controlled Microrobots Fabricated by Photopolymerization

Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.

Manipulation with sound and vibration: A review on the micromanipulation system based on sub-MHz acoustic waves

Manipulation of micro-objects have been playing an essential role in biochemical analysis or clinical diagnostics. Among the diverse technologies for micromanipulation, acoustic methods show the advantages of good biocompatibility, wide tunability, a label-free and contactless manner. Thus, acoustic micromanipulations have been widely exploited in micro-analysis systems. In this article, we reviewed the acoustic micromanipulation systems that were actuated by sub-MHz acoustic waves. In contrast to the high-frequency range, the acoustic microsystems operating at sub-MHz acoustic frequency are more accessible, whose acoustic sources are at low cost and even available from daily acoustic devices (e.g. buzzers, speakers, piezoelectric plates). The broad availability, with the addition of the advantages of acoustic micromanipulation, make sub-MHz microsystems promising for a variety of biomedical applications. Here, we review recent progresses in sub-MHz acoustic micromanipulation technologies, focusing on their applications in biomedical fields. These technologies are based on the basic acoustic phenomenon, such as cavitation, acoustic radiation force, and acoustic streaming. And categorized by their applications, we introduce these systems for mixing, pumping and droplet generation, separation and enrichment, patterning, rotation, propulsion and actuation. The diverse applications of these systems hold great promise for a wide range of enhancements in biomedicines and attract increasing interest for further investigation.

Microfluidic systems for particle capture and release: A review

Microfluidic technology has emerged as a promising tool in various applications, including biosensing, disease diagnosis, and environmental monitoring. One of the notable features of microfluidic devices is their ability to selectively capture and release specific cells, biomolecules, bacteria, and particles. Compared to traditional bulk analysis instruments, microfluidic capture-and-release platforms offer several advantages, such as contactless operation, label-free detection, high accuracy, good sensitivity, and minimal reagent requirements. However, despite significant efforts dedicated to developing innovative capture mechanisms in the past, the release and recovery efficiency of trapped particles have often been overlooked. Many previous studies have focused primarily on particle capture techniques and their efficiency, disregarding the crucial role of successful particle release for subsequent analysis. In reality, the ability to effectively release trapped particles is particularly essential to ensure ongoing, high-throughput analysis. To address this gap, this review aims to highlight the importance of both capture and release mechanisms in microfluidic systems and assess their effectiveness. The methods are classified into two categories: those based on physical principles and those using biochemical approaches. Furthermore, the review offers a comprehensive summary of recent applications of microfluidic platforms specifically designed for particle capture and release. It outlines the designs and performance of these devices, highlighting their advantages and limitations in various target applications and purposes. Finally, the review concludes with discussions on the current challenges faced in the field and presents potential future directions.

Versatile magnetic hydrogel soft capsule microrobots for targeted delivery

Maintaining the completeness of cargo and achieving on-demand cargo release during long navigations in complex environments of the internal human body is crucial. Herein, we report a novel design of magnetic hydrogel soft capsule microrobots, which can be physically disintegrated to release microrobot swarms and diverse cargoes with almost no loss. CaCl₂ solution and magnetic powders are utilized to produce suspension droplets, which are put into sodium alginate solution to generate magnetic hydrogel membranes for enclosing microrobot swarms and cargos. Low-density rotating magnetic fields drive the microrobots. Strong gradient magnetic fields break the mechanical structure of the hydrogel shell to implement on-demand release. Under the guidance of ultrasound imaging, the microrobot is remotely controlled in acidic or alkaline environments, similar to those in the human digestion system. The proposed capsule microrobots provide a promising solution for targeted cargo delivery in the internal human body.

In vivo applications of micro/nanorobots

Untethered robots in the size range of micro/nano-scale offer unprecedented access to hard-to-reach areas of the body. In these challenging environments, autonomous task completion capabilities of micro/nanorobots have been the subject of research in recent years. However, most of the studies have presented preliminary in vitro results that can significantly differ under in vivo settings. Here, we focus on the studies conducted with animal models to reveal the current status of micro/nanorobotic applications in real-world conditions. By a categorization based on target locations, we highlight the main strategies employed in organs and other body parts. We also discuss key challenges that require interest before the successful translation of micro/nanorobots to the clinic.

Multiresponsive Microactuator for Ultrafast Submillimeter Robots

Untethered submillimeter microrobots have significant application prospects in environment monitoring, reconnaissance, and biomedicine. However, they are practically limited to their slow movement. Here, an electrical/optical-actuated microactuator is reported and developed into several untethered ultrafast submillimeter robots. Composed of multilayer nanofilms with exquisitely designed patterns and high surface-to-volume ratios, the microrobot exhibits flexible, precise, and rapid response under voltages and lasers, resulting in controllable and ultrafast inchworm-type movement. The proposed design and microfabrication approach allows various improved and distinctive 3D microrobots simultaneously. The motion speed is highly related to the laser frequency and reaches 2.96 mm/s (3.66 body length/s) on the polished wafer surface. Excellent movement adaptability of the robot is also verified on other rough substrates. Moreover, directional locomotion can be realized simply by the bias of the irradiation of the laser spot, and the maximum angular speed reaches 167.3°/s. Benefiting from the bimorph film structure and symmetrical configuration, the microrobot is able to maintain functionalized after being crashed by a payload 67 000 times heavier than its weight, or at the unexpectedly reversed state. These results provide a strategy for 3D microactuators with precise and rapid response, and microrobots with fast movement for delicate tasks in narrow and restrictive scenarios.

Inkjet-Assisted Electroformation of Magnetically Guidable Water Striders for Interfacial Microfluidic Manipulation

Gerridae, colloquially called water striders, are a peculiar class of insects characterized by the extraordinary ability to walk on the surface of water bodies. Owing to this capacity, they constitute an ideal source of inspiration for designing untethered microdevices capable of navigating the interface between two fluids. Such steerable micrometric objects can be of great interest for various applications, ranging from the handling of floating objects to the remote control of microreactions and the manipulation of self-assembled monolayers. This paper describes the realization of artificial water striders via an inkjet-assisted electroforming approach. Inkjet deposition patterns the negative mask, which is subsequently filled with different layers of metals through electroforming. One of such layers is the magnetic alloy NiFe, which allows wireless propulsion of the striders by means of externally applied magnetic fields. The magnetic actuation tests prove good maneuverability at the water-air and silicone oil-air interfaces, with superior control over the speed and position of the devices. The surface of the devices is modified to tune its superficial energy in order to maximize buoyancy on these different combinations of fluids. A magnetic field-controlled strider manipulates a droplet and demonstrates collecting oil microdroplets and synthesizing platinum nanoparticles by chemical microreactions. Finally, the remotely operated microrobot could be employed in laboratories as a real avatar of chemists.

Fabrication, control, and modeling of robots inspired by flagella and cilia

Flagella and cilia are slender structures that serve important functionalities in the microscopic world through their locomotion induced by fluid and structure interaction. With recent developments in microscopy, fabrication, biology, and modeling capability, robots inspired by the locomotion of these organelles in low Reynolds number flow have been manufactured and tested on the micro-and macro-scale, ranging from medicalin vivomicrobots, microfluidics to macro prototypes. We present a collection of modeling theories, control principles, and fabrication methods for flagellated and ciliary robots.

Relationships between the Mini-InDel Variants within the Goat CFAP43 Gene and Body Traits

The cilia- and flagella-associated protein 43 (CFAP43) gene encodes a member of the cilia- and flagellum-associated protein family. Cilia on the cell surface influence intercellular signaling and are involved in biological processes such as osteogenesis and energy metabolism in animals. Previous studies have shown that insertion/deletion (InDel) variants in the CFAP43 gene affect litter size in Shaanbei white cashmere (SBWC) goats, and that litter size and body traits are correlated in this breed. Therefore, we hypothesized that there is a significant relationship between InDel variants within the CFAP43 gene and body traits in SBWC goats. Herein, we first investigated the association between three InDel variant loci (L-13, L-16, and L-19 loci) within CFAP43 and body traits in SBWC goats (n = 1827). Analyses revealed that the L-13, L-16, and L-19 loci were significantly associated with chest depth, four body traits, and three body traits, respectively. The results of this study are in good agreement with those previously reported and could provide useful molecular markers for the selection and breeding of goats for body traits.

Rolling microswarms along acoustic virtual walls

Rolling is a ubiquitous transport mode utilized by living organisms and engineered systems. However, rolling at the microscale has been constrained by the requirement of a physical boundary to break the spatial homogeneity of surrounding mediums, which limits its prospects for navigation to locations with no boundaries. Here, in the absence of real boundaries, we show that microswarms can execute rolling along virtual walls in liquids, impelled by a combination of magnetic and acoustic fields. A rotational magnetic field causes individual particles to self-assemble and rotate, while the pressure nodes of an acoustic standing wave field serve as virtual walls. The acoustic radiation force pushes the microswarms towards a virtual wall and provides the reaction force needed to break their fore-aft motion symmetry and induce rolling along arbitrary trajectories. The concept of reconfigurable virtual walls overcomes the fundamental limitation of a physical boundary being required for universal rolling movements.

Liquid Metal-Elastomer Composites with Dual-Energy Transmission Mode for Multifunctional Miniature Untethered Magnetic Robots

Miniature untethered robots attract growing interest as they have become more functional and applicable to disruptive biomedical applications recently. Particularly, the soft ones among them exhibit unique merits of compliance, versatility, and agility. With scarce onboard space, these devices mostly harvest energy from environment or physical fields, such as magnetic and acoustic fields and patterned lights. In most cases, one device only utilizes one energy transmission mode (ETM) in powering its activities to achieve programmed tasks, such as locomotion and object manipulation. But real-world tasks demand multifunctional devices that require more energy in various forms. This work reports a liquid metal-elastomer composite with dual-ETM using one magnetic field for miniature untethered multifunctional robots. The first ETM uses the low-frequency (<100 Hz) field component to induce shape-morphing, while the second ETM employs energy transmitted via radio-frequency (20 kHz-300 GHz) induction to power onboard electronics and generate excess heat, enabling new capabilities. These new functions do not disturb the shape-morphing actuated using the first ETM. The reported material enables the integration of electric and thermal functionalities into soft miniature robots, offering a wealth of inspirations for multifunctional miniature robots that leverage developments in electronics to exhibit usefulness beyond self-locomotion.

A robot-assisted acoustofluidic end effector

Liquid manipulation is the foundation of most laboratory processes. For macroscale liquid handling, both do-it-yourself and commercial robotic systems are available; however, for microscale, reagents are expensive and sample preparation is difficult. Over the last decade, lab-on-a-chip (LOC) systems have come to serve for microscale liquid manipulation; however, lacking automation and multi-functionality. Despite their potential synergies, each has grown separately and no suitable interface yet exists to link macro-level robotics with micro-level LOC or microfluidic devices. Here, we present a robot-assisted acoustofluidic end effector (RAEE) system, comprising a robotic arm and an acoustofluidic end effector, that combines robotics and microfluidic functionalities. We further carried out fluid pumping, particle and zebrafish embryo trapping, and mobile mixing of complex viscous liquids. Finally, we pre-programmed the RAEE to perform automated mixing of viscous liquids in well plates, illustrating its versatility for the automatic execution of chemical processes.

Natural Cilia and Pine Needles Combinedly Inspired Asymmetric Pillar Actuators for All-Space Liquid Transport and Self-Regulated Robotic Locomotion

Natural structures and motion behaviors open new avenues for effective small-scale transport, such as the plant-inspired energy-free liquid transport surfaces and cilia-inspired propulsion systems. However, they are restricted by either the fixed structure or nonself-regulating beating modes, making many complex tasks remain challenging, e.g., the controllable multidirectional liquid transport and flexible propulsion. Herein, inspired by pine needles and natural cilia, we report an asymmetric-structured intelligent magnetic pillar actuator (AI-MPA) with both the "passive" and "active" transport features. Under the control of the magnetic field, the AI-MPA shows an all-space liquid transport ability toward arbitrary directions. Moreover, benefiting from the material's magnetoelasticity and asymmetric-structured design, the AI-MPA enables self-regulation of two-dimensional (2D)/three-dimensional (3D) cilia-like beating modes and can be further developed for robotic crawling and self-rotatable motion. The AI-MPA integrates the superiority of static and dynamic systems in nature and exhibits intelligent self-regulation that could not be achieved before. Confirmed theoretically and demonstrated experimentally, this work provides insights into increasingly functional and intelligent miniature biomimetic systems, with applications from directional liquid transport to robotic locomotion.

Multicomponent and multifunctional integrated miniature soft robots

Miniature soft robots with elaborate structures and programmable physical properties could conduct micromanipulation with high precision as well as access confined and tortuous spaces, which promise benefits in medical tasks and environmental monitoring. To improve the functionalities and adaptability of miniature soft robots, a variety of integrated design and fabrication strategies have been proposed for the development of miniaturized soft robotic systems integrated with multicomponents and multifunctionalities. Combining the latest advancement in fabrication technologies, intelligent materials and active control methods enable these integrated robotic systems to adapt to increasingly complex application scenarios including precision medicine, intelligent electronics, and environmental and proprioceptive sensing. Herein, this review delivers an overview of various integration strategies applicable for miniature soft robotic systems, including semiconductor and microelectronic techniques, modular assembly based on self-healing and welding, modular assembly based on bonding agents, laser machining techniques, template assisted methods with modular material design, and 3D printing techniques. Emerging applications of the integrated miniature soft robots and perspectives for the future design of small-scale intelligent robots are discussed.