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The driving forces, average speed, and duration of the bubble-driven micromotor at different stages.
| Stages | Equation | Driving Force | Average Speed (μm/s) | Duration (ms) |
|---|---|---|---|---|
| Nucleation | (14) | 0.03958 | 6.808 × 10−4 | 0–4.2 |
| Growth | (56) | 2995 | 1011 | 4.2–5.25 |
| Slip | (33) | 18.83 | 191.4 | 5.25–8.97 |
| Ejection | (49) | 2360 | 15.65 | 8.97–8.98 |
