Figure 5.

Biocompatibility test of the hydrogel crescent microswimmers. (A) Photograph of the magnetic control system. The zoomed-in image shows a sample of the microswimmers inside a petri dish placed at the central platform of the system. The position of the sample was adjusted to be as close as possible to the center of the coils to ensure field uniformity. (B) Schematic of a microswimmer and its swimming and drifting directions relative to the rotating magnetic field displayed in Cartesian coordinates. (C) The velocity profiles of the microswimmers. The step-out frequency is 2 Hz, and the maximum forward velocity is 42 μm/s.