磁电协同驱动微机器人实现三维运动，突破平面限制
Hybrid Magnetically and Electrically Powered Metallo-Dielectric Janus Microrobots: Enhanced Motion Control and Operation Beyond Planar Limits
- 磁电双驱动结合磁悬浮与静电捕获，实现多维度控制
- 可完成越障、上浮表面及局域化操作，支持3D轨迹运行
- 适用于微流控与生物载荷的精准操控，适合生物医学场景
本研究将磁力与电力驱动机制融合，实现了对朱纳斯粒子（Janus particle, JP）微机器人的先进运动控制。通过多种调控策略，显著提升平面内运动精度，并提出跨平面转换与2.5维（2.5D）轨迹新概念，借助磁悬浮与静电捕获技术，使微机器人在三维空间中自由移动。关键功能包括越障、跃升至高处表面及局部表面图案化，实现高度定向干预。利用该系统，还成功实现合成物与生物载荷的可控出平面运输。这些进展为微流控系统与生物医学研究中的新型微机器人应用奠定基础。
原文摘要 · Abstract (English)
This study introduces the integration of hybrid magnetic and electric actuation mechanisms to achieve advanced motion capabilities for Janus particle (JP) microrobots. We demonstrate enhanced in-plane motion control through versatile control strategies and present the concepts of interplanar transitions and 2.5-dimensional (2.5D) trajectories, enabled by magnetic levitation and electrostatic trapping. These innovations expand the mobility of JPs into 3D space, allowing dynamic operation beyond the limitations of traditional surface-bound motion. Key functionalities include obstacle crossing, transitions to elevated surfaces, and discrete surface patterning enabling highly localized interventions. Using this set of tools, we also showcase the controlled out-of-plane transport of both synthetic and biological cargo. Together, these advancements lay the groundwork for novel microrobot-related applications in microfluidic systems and biomedical research.
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