Table 1.

Comparison of biological microorganisms and artificial bioinspired magnetic robots.

Type	Body Length, μm	Maximum Speed, μm/s	Non-Dimensional Speed, Body Lengths per Second	Reference
Biological Micromotors
Bovine sperm	30 ÷ 80	10 ÷ 70	~1	-
Flagellate bacteria	3 ÷ 15	20 ÷ 200	~20	-
Infusoria slipper	100 ÷ 300	2000	7 ÷ 20	-
Magnetic Microrobots and Micromotors
Single-link flexible swimmer	322	158	0.5	Khalil et al. (2014) [74]
Fish-like microrobot	90	220	2.4	Jiang et al.(2021) [75]
Multilink flexible swimmer	15.5	14	0.9	Jang et al. (2015) [76]
Multilink-eel-like swimmer	120	25	0.2	Liao et al. (2019) [77]
Annelid-worm-like microswimmer	20	100	5	Liu et al. (2018) [78]
Helical nanoswimmer	3	15	5	Li et al. (2014) [79]
Biodegradable microswimmer	20	3.5	0.2	Ceylan et al. (2019) [80]
Degradable hyperthermia microrobot	120	114	1	Palagi et al. (2019) [73]
Rigid helical swimmer	38	1.8	0.05	Zhang et al. (2009) [81]
Ciliated microrobot	220	340	1.6	Kim et al. (2016) [82]
Magnetic microparticle chains	57	18	0.3	Cheang et al. (2016) [83]
Magnetic nanoparticle chains	2.8	9.8	3.5	Cheang et al. (2015) [62]
Cube-shaped microrobot	2	20.8	10.4	Chen et al. (2021) [84]
Janus microdimers	10	133	13.3	Yu et al. (2019) [85]