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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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Forward speed (v_x) of the soft microrobotic sperm is calculated vs. the concentration (φ) of the immersed particles for actuation frequency range of 1 ≤ f ≤ 5 Hz. Parameters: 2a = 98 μm, 2b = 31 μm, 2r_t = 8 μm, L = 284 μm, and μ = 0.95 Pa.s. (A) At relatively low actuation frequencies, the swimming speed increases with the concentration. For f ≥ 3 Hz, the speed decreases with the concentration. (B) Flagellar shapes are calculated for 0.1 ≤ φ ≤ 10% and f = 1 Hz. (C) Flagellar shapes are calculated for 2 ≤ f ≤ 5 Hz and φ = 5%.