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. 2019 Jul 31;6:65. doi: 10.3389/frobt.2019.00065

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Copyright © 2019 Khalil, Klingner, Hamed, Magdanz, Toubar and Misra.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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A soft microrobotic sperm swims in a viscous heterogeneous medium under the influence of a periodic magnetic field. (a) The medium (glycerin with viscosity of 0.95 Pa.s) contains particles with average diameter of 30 μm and concentration of 3.2%. (b) Scanning electron microscopy image of a soft microrobotic sperm shows its magnetic head and ultra-thin flexible tail. e₁(t) and e₂(t) are orthonormal vectors of the material frame of the microrobotic sperm. The magnetic dipole moment of the head is oriented along e₁(t) and enables directional control under the influence of external magnetic fields.