Table 1.
The forward speed (vx) of a soft microrobotic sperm sample is measured (in μm/s) vs. the concentration (φ) of spherical particles and the actuation frequency (f) of the magnetic field.
| φ | Microrobot 1 | Microrobot 2 | Microrobot 3 | Microrobot 4 | ||||
|---|---|---|---|---|---|---|---|---|
| 0% | 3% | 0% | 3% | 0% | 3% | 0% | 3% | |
| f = 1 Hz | 1.2 ≤ Sp ≤ 1.7 | 1.3 ≤ Sp ≤ 2 | 1.1 ≤ Sp ≤ 1.6 | 1.1 ≤ Sp ≤ 1.7 | ||||
| 106 ± 17 | 105 ± 21 | 45 ± 5 | 46 ± 10 | 56 ± 8 | 82 ± 8 | 73 ± 4 | 85 ± 10 | |
| f = 2 Hz | 1.4 ≤ Sp ≤ 2.0 | 1.6 ≤ Sp ≤ 2.4 | 1.3 ≤ Sp ≤ 1.9 | 1.3 ≤ Sp ≤ 2.0 | ||||
| 228 ± 20 | 212 ± 44 | 93 ± 30 | 124 ± 27 | 51 ± 10 | 68 ± 7 | 157 ± 10 | 142 ± 28 | |
| f = 3 Hz | 1.6 ≤ Sp ≤ 2.3 | 1.8 ≤ Sp ≤ 2.6 | 1.4 ≤ Sp ≤ 2.1 | 1.5 ≤ Sp ≤ 2.2 | ||||
| 259 ± 33 | 369 ± 59 | 151 ± 34 | 178 ± 44 | 58 ± 5 | 81 ± 13 | 175 ± 55 | 193 ± 35 | |
| f = 4 Hz | 1.7 ≤ Sp ≤ 2.4 | 2 ≤ Sp ≤ 2.8 | 1.5 ≤ Sp ≤ 2.3 | 1.6 ≤ Sp ≤ 2.4 | ||||
| 334 ± 104 | 435 ± 30 | 149 ± 11 | 203 ± 26 | 88 ± 7 | 110 ± 7 | 160 ± 101 | 260 ± 17 | |
| f = 5 Hz | 1.8 ≤ Sp ≤ 2.6 | 2.1 ≤ Sp ≤ 3.0 | 1.6 ≤ Sp ≤ 2.4 | 1.7 ≤ Sp ≤ 2.5 | ||||
| 394 ± 43 | 520 ± 65 | 198 ± 5 | 268 ± 48 | 65 ± 8 | 82 ± 8 | 198 ± 61 | 246 ± 26 | |
Microrobot 1: 2a = 90 μm, 2b = 48 μm, and L = 298 μm. Microrobot 2: 2a = 125 μm, 2b = 44 μm, and L = 345 μm. Microrobot 3: 2a = 106 μm, 2b = 26 μm, and L = 272 μm. Microrobot 4: 2a = 62 μm, 2b = 59 μm, and L = 286 μm.