Hybrid Magnetically and Electrically Powered Metallo-Dielectric Janus Microrobots: Enhanced Motion Control and Operation Beyond Planar Limits

作     者：Rachbuch, Ido Park, Sinwook Katz, Yuval Miloh, Touvia Yossifon, Gilad 

作者机构：School of Mechanical Engineering Tel-Aviv University Israel Department of Biomedical Engineering Tel-Aviv University Israel 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2025年

核心收录：

主　　题：Magnetic levitation 

摘      要：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. Copyright © 2025, The Authors. All rights reserved.