Magnetic helical micromachines: Fabrication, controlled swimming, and cargo transport

A simple and general fabrication method for helical swimming micromachines by direct laser writing and e-beam evaporation is demonstrated. The magnetic helical devices exhibit varying magnetic shape anisotropy, yet always generate corkscrew motion using a rotating magnetic field. They also exhibit good swimming performance and are capable of pick-and-place micromanipulation in 3D. Cytotoxicity of the devices was investigated using mouse myoblasts. Copyright © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Magnetic helical micromachines: Fabrication, controlled swimming, and cargo transport

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An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle