Solid–Liquid State Transformable Magnetorheological Millirobot
| Autor: | Zhipeng Chen, Weibin Lu, Yuanyuan Li, Pengfei Liu, Yawen Yang, Lelun Jiang |
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| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | ACS Applied Materials & Interfaces. 14:30007-30020 |
| ISSN: | 1944-8252 1944-8244 |
| Popis: | Magnetically actuated soft millirobots (magneto-robot) capable of accomplishing on-demand tasks in a remote-control manner using noninvasive magnetic fields are of great interest in biomedical settings. However, the solid magneto-robots are usually restricted by the limited deformability due to the predesigned shape, while the liquid magneto-robots are capable of in situ shape reconfiguration but limited by the low stiffness and geometric instability due to the fluidity. Herein, we propose a magneto-active solid-liquid state transformable millirobot (named MRF-Robot) made from a magnetorheological fluid (MRF). The MRF-Robot can transform freely and rapidly between the Newtonian fluid in the liquid state upon a weak magnetic field (∼0 mT) and the Bingham plasticity in the solid state upon a strong magnetic field (∼100 mT). The MRF-Robot in the liquid state can realize diverse behaviors of large deformation, smooth navigation, in situ splitting, merging, and gradient pulling actuated by a weak magnetic field with a high gradient. The MRF-Robot in the solid state is distinguished for the controllable locomotion with reconfigured shapes and versatile object manipulations (including pull, push, and rotate the objects) driven by a strong magnetic field with a high gradient. Moreover, the MRF-Robot could continuously maneuver to accomplish diverse tasks in the comprehensive scenes and achieve liquid-drug delivery, thrombus clearance, and fluid-flow blockage in the phantom vascular model under magnetic actuation. |
| Databáze: | OpenAIRE |
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