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. 2022 Mar 20;13(3):481. doi: 10.3390/mi13030481

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© 2022 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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Different structures of sharp-edge propulsion devices. (A) Schematic of the microscale swimming robot with helical wave propulsion and the microscale swimming robot with planar wave propulsion. (B) COMSOL simulation of the double-articulated tail propulsion. (C) Acoustic actuation of the tadpole-like microrobot. (D) Different designs of sharp-edge microrobots. (E) Starfish-like microrobot. (F) Microjet engine based on sharp-edge. Reproduced with permission from Refs. [54,68,69,70,71], respectively.