Selective-collective scalable locomotion control of helical magnetic swimmers within confined channels using global magnetic fields

Abstract

Achieving selective-individual and collective control over multiple magnetic microrobots remains a formidable challenge. Existing techniques for controlling identical magnetic swimmers are often limited to two-dimensional, small working spaces, while heterogeneous swimmers can only be controlled in small numbers without the option for collective control. In this study, we present a purely magnetic control methodology for the selective-scalable locomotion of helical magnetic swimmers within confined channels. By employing a unique gradient field distribution, referred to as the "selection field," along with space-uniform rotating fields, we establish a "selection volume" that allows swimmers within it to fully rotate, while those outside remain stationary. We explore various conditions of the selection volume to analyze the locomotion dynamics of the swimmers in relation to the position of the selection volume. Experimental results demonstrate the selective-scalable locomotion of identical robots, ranging from one to an arbitrary number (N) of robots, as well as their selective-individual manipulation for multitasking applications. Furthermore, compatibility of the proposed method with different magnetic torque-driven robots is exemplified through the selective control of rolling robots. Moreover, three-dimensional selective-scalable control is also demonstrated for four swimmers in a quasi-three-dimensional channel, as well as for two swimmers within a true three-dimensional channel.