Index

A

Abiotic microrobot platforms, 222
Abiotic microswimmers, 222
Acceleration, 26, 186, 188, 189
Achiral microswimmer, 116–121, 125, 127, 128
Achiral microswimmers, 
actuation of, 119
three-bead, 118, 120
three-particle, 118
Achiral microswimmer's kinematics, 123
Achirality, 117
Acid, hyaluronic, 144, 154, 155
Acid-stable micropropellers, 150
Acidified mucin solutions, 150
Acoustic propulsion, 75
Active biomimetic micropropellers, 150
Active controllable tumor, xxxv
Active microparticle systems, 151
Active propulsion systems, 116
Actuated micropropellers, magnetically, 151
Actuation, xxxv, 152, 154, 156, 168
internal, 136, 137, 140
magnetic, 28, 153, 202
Actuation schemes, 151, 158
Actuators, xxiii, xxiv, 32, 34, 46, 56
Adaptability, 140
Adhesion, 44, 48, 149, 174, 175
Agar plate, 83, 95
Agar plate method, 51
Alginate, 44, 56
Alginate microbeads, 44
bacteria-encapsulated, 45
Angular velocity, 7, 67, 83, 120
Anode, xxix, 85, 87
Appendages, 134, 136
Applications, xxv, 54, 103, 116, 142, 172
biological, 40
planar manipulation, 183
Aquatic locomotion, xxvii
Artificial bacterial flagella (ABF), 46
Artificial bio-inspired microrobots, xxix
Artificial magnetic helical propellers, 142
Artificial micropropellers, 158
Artificial microrobots, xxx, 135, 151
Artificial microswimmers, 137, 141, 153
soft, 140
Artificial self-propelled microswimmers, 140
Artificially magnetotactic T. pyriformis, 223, 241
Atomic force microscope (AFM), 201
Attached bacteria, 82
Automated biomanipulation, xxxvi
Automated force-controlled micro-manipulation, 217
Automated manipulation, 177, 191
Automated manipulation of cells, 177
Automated micromanipulation, 165
Automation, 164
Automation of single microrobots, 176
Autonomous control, xxx, xxxi, xxxv
Autonomous control systems, 117
Autonomous navigation, 102
Autonomous robot, 4
Avidin–biotin connection, 118

B

Bacteria, 40, 42, 54, 94, 109, 149, 200
attached, 49, 51
chemotactic, 56
controlled, 6
gram-negative, 84
individual MC-1, xxxi
inoculated, 45
live, 82
magneto-tactic, xxx
prokaryotic, 109
therapeutic, 45
Bacteria strains, xxix, 45
Bacteria-based microrobots, 43, 45
Bacteria-based therapeutic microrobots, 57
Bacteria-encapsulated alginate microbeads, 45
Bacteria-powered microrobots (BPMs), xxxv, 81–103
Bacterial adhesion, 
adjusted, 40, 47, 56
selective, 43
Bacterial attachment, 42, 47, 48, 50
Bacterial carpets, 83
Bacterial chemotaxis, 51
Bacterial infection, 45
Bacterial outer membrane protein, 51
Bacterial patterning, 42, 47, 49
selective, 48
Bacterial patterning method, 42
Bacterial strains, 64, 65
Bacteriobots, 
fabricated, 51, 56
tumor-targeting properties of, 54
Bacterium, xxix, 63, 64, 73, 149
Helicobacter pylori, 135, 150, 151, 158
S. marcescens, 82
Basilar membrane, 24, 25
Beads, 117, 167, 172, 178, 190
non-magnetic, 62
Behavior, collective, xxiv, 107, 137
Bio-compatible magnetic microtransporters, 166
Bio-inspired microrobots, xxxv
artificial, xxix
Bio-locomotion, xxxv, 107
Bio-medical robots, 107
Biocompatible microbeads, 39
Biodegradable PLGA microbeads, 191
Biodegradable polymeric microbeads, 165
Biological fluids, 142, 144, 146, 157
macromolecular mesh of, xxx, 147
Biological media, xxx, 142, 144, 147, 155, 157
Biological microswimmers, 134
Biomedical applications, xxx, 40, 61, 69, 74, 115, 116, 158
Biomedical micro-devices, designing, 158
Biomolecular motors, 82
Biotin, 40, 47, 50, 56
BLOCKWORLD abstraction, 11
Blood, xxiv, 135, 142, 155
Boger-fluid, 143
Bovine serum albumin (BSA), 40, 47–49, 56
Brain, 23, 24
Breaking symmetry, 6, 7, 10
Brownian motion, 117, 123, 127, 144, 150, 173
from thermal diffusion, 117

C

Camera, CMOS, 203, 205, 225
Capillary tube, 62, 66, 107
Capture capabilities, of the microscopes, 164
Cathode, xxix, 85, 87
Cell analog, 209, 212
Cell biology, xxiii
Cell bodies, 84, 138, 172, 177, 224, 229, 235
neuron, 177
Cell lines, 174, 224
Cell manipulation, 81, 174, 177, 198, 212, 213
single, 164
Cell motion, 225, 228
Cells, xxiii, 25, 64, 65, 67, 134, 164, 170, 171, 174, 177, 200–202, 213, 215, 216, 224–226, 228, 240, 241
diseased, 74
dispersed, 142
eukaryotic, 108, 136
healthy, 75
HeLa cervical cancer, 75
human breast cancer (MCF-7), 74
M. magneticum, 64, 66
mammalian, 164
mechano-sensory, 24
mouse embryonic stem, 174
mouse-originated colon cancer (CT-26), 56
natural killer, 200
photovoltaic, xxxi
swarm of, 223, 241
target, 164, 172, 175
target cancer, 76
tumor, 54
Cells swim, 225, 230, 234, 239, 241
Chamber, 23, 53, 95, 228
experimental, 94
fluidic, 166
Characterization of magnetotactic bacteria, 63
Chemical strategies, 157, 158
Chemical transport, 179
Chemicals, xxviii, xxix, 40, 51, 81, 164, 178, 179, 191
Chemo-repellent, 51
Chemotaxis, xxviii, 47, 51, 52, 222
Chitosan, 44
Cilia xxvii-xxviii, xxx, xxxi, 108, 134, 136–139, 141, 151, 222, 224, 229, 235
neighboring, xxviii, 137
Ciliary propulsion, 134, 136, 138
biological, 140
natural, 138
Ciliated microorganisms, 158
Ciliates, 134, 136, 141, 157
Cilium, 137
Clearance, 89, 92, 102
Clearance function, 90, 100
Closed-loop control, 74
Closed-loop control system, 71
Cluster, 76
Cluttered environments, 100
Coatings, 56, 148
Cochlea, 22–25, 32, 34
Cochlear fluid, 25
Coil system, 187, 203
electromagnetic, 198
Coils, 62, 122, 167, 182, 187, 203
Commanded, 8, 204
distance, 9, 13
for position control, 13
with the lap distance, 14
Complex magnetic coil systems, 46
Complicated fabrication, 116
Concentration, 25, 117, 144, 174, 180
low, 21, 144, 150
Configuration, 7, 25, 32, 122, 136, 178
desired, 11
dual glass slide, 178
initial, 14, 173
initial workspace, 177
orthogonal, 66
planar, 186
Configuration space, 7
appropriate, 178
Constituted, 135, 136
of the vestibular, 23
Control, xxiv, 23, 86, 89, 142, 155, 169, 187
closed-loop, 74
independent, 169, 185
Control algorithms, 176, 182
Control function, 91, 92, 97, 100, 102
Control function measures, 91
Control input, 6, 7, 62, 82, 83, 85, 86, 89–92, 95–98, 100–103, 240
linear velocity, 9
optimal, 85, 92, 102
uniform, 6
Control input voltages, 85
Control law, 7–9, 72, 125
Control microorganisms, 222
Control microrobots, 103
Control of, 
bacteriobot motility, 46
magnetotactic bacteria, xxvii, xxxv, 61, 69
microbiorobotic, xxvii
swarm of, 62, 223, 241
tetrahymena pyriformis, 62
Control scheme, 183, 192
Control strategy, 63, 188
Control system, external, 82
Control-Lyapunov function, 240
Controllability, 89, 91, 96, 100, 116
Controlled bacterial attachment, 42, 43
Controlled bio-manipulation, 199
Controlled electromagnetic coils, 183
Controlled magnetic fields, 223
Controlled magnetotactic bacterium, 74
Controlled manipulation tasks, 199, 202
Controlled manipulation tests, 209
Controller, 8, 125, 127, 188
coil magnetic, 165
Coordination, 137, 140
metachronal, 137
Corkscrew motion, 224, 227–229
Counter-clockwise movement, 235
Culture, 64, 231
Cytoplasm, 25, 27, 28

D

Deflection, 201, 209, 213, 214
Deformation, 89, 91, 120, 136, 137, 140, 157, 200, 202
Delivering chemicals, 164, 191
Delivery, 44, 151, 167
automated microbead, 179
systemic, 21
Design, 152, 199, 203, 206
agnostic, 140, 142
Design specifications, 204, 205
Desired direction, 70, 88, 91
Devices, 134, 139
micro-fabricated, 200
micro-fluidic, 40
micro-swimming, xxvii
untethered, 198
Differential-drive robots, 5, 8
Diffusion model of magnetic particles, 25
Directional control, xxxv, 62, 65, 66, 70, 76, 77
Directional movement, xxix, 51, 145, 149
Discrete control, 222, 241
Disease development, 198, 199
Disturbances, 
environmental, 123, 127
fluidic, xxix
Drag coefficient, 188
Drag force, 109, 169, 187, 188, 214, 215
Drug delivery, xxv, xxxv, 21, 22, 40, 44, 74, 76, 81, 115, 116, 148, 179
targeted, 74, 76, 107, 165
Drugs, 22, 44, 45, 148, 179, 192
Dynamic model, 23, 26, 27, 34, 235, 238

E

Ear, 23
anatomy, 23
human, 23
middle, 23
outer, 23
Earth's magnetic field, 189
Effective magnetic torque, 139
Electric field, xxviii, xxix, xxxv, 82, 84–89, 91, 95, 102, 222
control, 102
control for BPMs, 94
distorted, 88
distortion, 88, 91, 92
flow, 88
Electrode, positive, 88
Electromagnetic coil, 32, 62, 66, 121, 165, 167, 187, 188, 192
controlled, 183
identical in-plane, 167
out-of-plane, 167
stationary, 183, 192
Electromagnetic coil system, 198
Electromagnetic coil testbed, 203, 205
Electromagnets, 
macro-scale, 46
orthogonal Helmholz, 6
stationary, 182
Electromagnets switch, 188
End-effectors, 206, 213
ideal micro-scale robotic, 202
Endolymph, 24, 25
Endolymphatic, 22, 24
Environment, xxxi, 7, 10, 23, 47, 82, 96, 123, 144, 148, 150, 169, 179, 212, 222
aqueous, 109
biological, 164
cluttered, 82, 100
heterogeneous, 107
microfluidic, 82
natural, 109
physiological, 40, 116
working, 198
Environmental disturbances, 123, 127
Environmental factors, 117, 124, 129
at the microscale, 117
Environments, low Reynolds number, xxvii, xxviii, 102, 222
Enzyme urease, 149, 150, 158
Enzymes, 148
Epithelial cells, 148
stomach's, 149
Epithelial layer, 25
Eukaryotic cells, 108, 136
Eukaryotic flagella, 108, 136
Eustachian tube, 22, 23
Evaluation, 46, 51
Experimental setup, 167, 179, 225
Experiments, 209
External fields, 135
External magnetic field, xxiv, 6, 62, 135, 139, 152, 156, 190, 198, 211

F

Fabricated bacteriobot, 51, 56
Fabrication, 39, 47, 50, 117, 140, 153, 154
Feedback control, 82, 123, 125, 128, 186, 235
Ferro-magnetic microrobots, 168
Field strength, 68, 122, 226
external magnetic, 205
Flagella, xxvii, xxx, xxxi, 64, 83, 135, 136, 222
eukaryotic, 108, 136
helical, 62, 67, 72
rigid magnetic, 158
Flagellated bacteria, xxxi, 46, 54, 116
Fluid flow, 83, 182, 225
Fluid viscosity, 152, 156
Fluids, xxx, 24, 108, 141, 143, 152, 155, 188
body, 22
bulk, 120
cerebrospinal, 135
cochlear, 25
extra-cellular, 24
Newtonian, 134
non-Newtonian, 134, 135, 151, 152, 154–156, 158
shear-thickening, 154–156
shear-thickening/thinning, 154
shear-thinning, 152, 154, 155
synovial, 135, 144, 155
unbounded, 107
Fluorescence microscopy, 164, 170
Force sensors, 200–202, 209
Forward propulsion, xxx, 146, 149, 155
Friction, 154, 169, 181, 213
Functions, clearance, 90, 100

G

Galvanotaxis, 82, 222
Glass slides, 94, 166, 174, 180, 225
Glass substrate, 41, 83, 94
Global inputs, 10, 14, 181, 231
Goal locations, 9, 96
Goal position, 11, 89, 96, 168
Ground effect, 108

H

Heading, 89, 92, 98, 102
Heading angle, 90, 102, 123
Heading function, 89, 96
Hearing, 23
Hearing loss, 21, 30
Helical propellers, 142
Helical swimmers, 116, 235
Helmholtz coil, 122, 125, 154, 223, 225, 226
Human body, 69, 134
Hyaluronan, 143
Hydrodynamics, 83

I

Incubated, 48, 64, 117, 224
Inertial forces, 11, 84, 165, 169, 188, 222
Ingested magnetite, 224, 231
Initial position, 12, 96, 98, 102, 129, 169
Injection, 22, 34, 56
Inner ear, 21–23, 34
Inspiration, 136
Interactions, 50, 108, 137, 146, 148, 174, 178, 216
Inverted microscope, 42, 121, 167

K

Kinematic model, 82, 83, 123

L

Large populations, of (small) robots, 11, 14
Light microscopes, 164
Linear velocity, 7–9, 124, 154
Liposome, 39
Localized delivery, of chemicals, 164
Locomotion, 64, 116, 141, 151, 156, 202
Low Reynolds number, xxvii, 83, 84, 102, 116, 123, 222

M

Magnetic actuator, 32
Magnetic body, 205
micro-sized, 198, 208
Magnetic coil, 82, 203
Magnetic coils, 82
Magnetic control, 125
Magnetic control system, 117, 121
Magnetic devices, 34, 182
Magnetic dipole, 118, 182, 231, 241
Magnetic dipole moment, 63, 65, 73, 77, 183, 185, 189
Magnetic dipole strength, 223, 231, 234, 241
Magnetic field gradient, 28, 69, 76, 121, 182, 183, 188, 202, 225, 226
Magnetic field lines, xxix, 32, 66, 68, 70
Magnetic field strength, 150
Magnetic field xxviii-xxx, 22, 23, 31, 32, 63, 64, 68, 73, 121, 122, 145, 146, 182–187, 204, 205, 222–225, 228, 231, 234–236, 239
controlled, 223
earth's, 189
local, 181
near-uniform, 122
static, 125
uniform, 121, 223, 225
weak, 62, 145
Magnetic gradient, 32–34, 76, 200
Magnetic helical nanopropellers, 145
Magnetic layer, 70, 149
Magnetic manipulation, 140
Magnetic microorganisms, 61
Magnetic microparticles, 6, 139
Magnetic micropropellers, 145, 149, 157
Magnetic microrobots, 145, 165, 170, 177, 181, 191, 202, 205
micro-scale, 202
mobile, 199, 202, 203, 215
single, 168
tumbling, 6
untethered, 164
Magnetic microswimmers, 118
Magnetic mobile microrobots, 198, 202
submillimeter, 198
Magnetic nanoparticles, 22
Magnetic nanopropellers, 145
Magnetic particles, 6, 25–28, 116, 117, 144, 225
connected, 116
small aggregate, 225
Magnetic propellers, sub-micron-size, 142
Magnetic properties, 62–64, 77, 140, 149
of the MTBs, 63, 77
Magnetic propulsion, 145, 149
Magnetic resonance imaging (MRI), 7, 23, 164
Magnetic resonant microrobots, 6
Magnetic robots, 183
Magnetic torque, 65, 146, 152, 185, 236
Magnetic twisting cytometry (MTC), 200
Magnetite, 62, 64, 224
ingested, 224, 231
internalized, 227
Magnetite nano-crystals, 65, 77
Magnetite nanoparticles, 166
Magnetization, 27, 28, 168, 169, 181, 183, 205, 222, 224, 225, 227
Magnetized cells, 236
strong, 234
weak, 234
Magnetotactic bacteria, non-motile, 68
Magnetotactic bacteria (MTBs), 61, 63, 64, 68, 69, 74, 75, 77, 81
Magnetotactic bacteria strains, xxviii
Magnetotaxis, 47, 82, 224
Magnets, 121, 181, 183, 185, 186, 232
identical, 182, 192
permanent, 32, 34, 182, 224, 231
various strength, 231, 241
Manipulating microbeads, xxxi, 172
Manipulation, 
controlled, 215
multirobot, 181
nonprehensile, 11
Manipulation tasks, 174, 175, 198, 202, 215
controlled, 199, 202
Manual control, 81, 215
Manufacturing microrobots, 14
Materials, 4, 147, 171, 206, 223
Maze, micro-fabricated, 75
Mechanical forces, 165, 197, 199
Mechanobiology, 198, 199
Mechanotransuction, 198
Membrane, 22, 25, 28, 29, 76
Metachronal coordination, 137
Metachronal waves, 136
Metachrony, 138
Micro cargos, 39, 56
Micro- and nanoswimmers, 117
Micro-force feedback, 212
Micro-force sensing, 198–200, 202, 209, 215, 216
Micro-force sensing mobile microrobot (μFSMM), 198, 202, 215
Micro-force sensor, 201, 205, 207, 214
stiffness, 206, 208, 209, 211
Micro-force sensor end-effector, 206, 209, 213
Micro-magnets, 152–154, 157
Micro-manipulation, 199, 215
automated force-controlled, 217
Micro-manipulation methods, traditional, 200
Micro-manipulation of biology specimens, 200
Micro-robots, 142, 158, 178
optically-controlled bacterial, 116
Micro-scallop, 152
Micro-sized magnetic body, 198, 208
Micro-sized magnets, 202
Microassembly, 81, 181, 192, 241
Microbeads, 
bacteria-actuated, 50
chemically doped, 178
coated magnetic, 118
fabrication of, 41
latex, 172, 174
PEG, 40–45, 48, 50
tagged, 171, 177
Microchannel, 94, 225
Microcontroller board, 204
Microenvironments, 164, 191
Microfabricated structures, 94
Microfluidic chamber, 52, 54, 232
chemotactic, 52
fabricated, 52, 57
fabricated web-type, 52
Microfluidic chamber environment, 54
Microfluidic channel pattern, PDMS cross-junction, 41
Microfluidic channels, 41, 45, 62, 66, 74, 192
closed, 167
cross-junction, 45
PDMS cross-junction, 41
Microfluidic device, 53
fabricated, 54
web-type, 52
Microfluidic environments, 82, 83, 222
Microgrippers, 81
Micromanipulation, xxix, 192
automated, 165
Micron-sized structures, 147, 151
Microorganisms, xxxi, 61, 134, 143, 151, 156, 222
Micropropellers, 142, 143, 146, 149
Microrobot, 46, 140, 155, 168, 177, 211
Microrobot methods, single, 166
Microrobotic systems, 61, 69
automated, 164
hybrid, 83
Microrobotic transport, 180
Microrobotics, 3, 115, 116
Microrobots, xxix, 4, 42, 69, 81, 116, 135, 140, 151, 156, 211
abiotic, 156
bacteria-actuated, 42
bacteria-actuated drug-embedded, 45
bioinspired, 136
cellular, xxxi
disk, 141
ferro-magnetic, 168
helical, 181
LCE, 140
magnetic resonant, 6
micro-scale mobile, 202
non-biological, 82
S. marcescens-based, 51
self-propelled, 69
untethered, 157
Microrobot's mobility, 202
Microscopes, xxiv, xxix, 95, 122, 164, 203
Microstructures, 39, 42, 47, 51, 54, 83, 95, 166, 181
bacteria-actuated, 48
Microswimmer, 116, 134, 139, 151, 181
Microswimmers, 
abiotic, 222
self-propelled soft, 135
Microswimmers convert, 117, 119
Microtransporters, 166, 170, 175, 178
Middle ear, 22
Minimally invasive, 
surgery, 3
therapeutic and diagnostic medical procedures, 22
Mobile magnetic microrobot, 199, 202, 203, 215
Mobile microrobot, 204
Mobility, 209, 211, 215
Model, 
dynamic, 23, 26, 34, 235
magnetic fields, 168
multirobot, 185
stochastic, 84, 124
viscoelastic, 27, 30
viscous, 26, 28
Molecular motors, 5, 136, 138
Morphology, 63, 72, 77, 156, 175
Motility, 40, 45, 46, 48, 51, 62, 151
chemotactic, 52
Motility buffer, 94
Motility control of bacteriobot, 49
Motility evaluation, 51
Motion control, 62, 70, 81, 103, 119, 121, 125
MRI (magnetic resonance imaging), 7, 23, 164
Mucin, 147
Mucin gels, 148
Mucin solutions, 148
Mucus, 135, 147, 150
Multirobot, 189
Multirobot manipulation, 181
Multirobot model, 185

N

Nano-medicine, 69, 74, 77
Nanocars, 4
Nanohelices, 145
Nanoparticles, 30, 143
Nanopropellers, 142, 143, 145
magnetic helical, 145
Nanorobotics, 3, 115, 116
Nanorobots, 4, 116, 134, 147, 157
Nanoswimmers, 117
Net displacement, 134, 152
Neuron cells, 165
Neurons, xxiii, 177, 178
Newtonian fluid, 134, 143, 146, 152, 154, 156
Non-biological microrobots, 82
Non-motile magnetotactic bacteria, 67
Non-Newtonian fluids, 134, 152, 153, 155, 158
Nonprehensile manipulation, 11

O

Objective function, 89, 92, 96, 98, 102
Obstacle avoidance, xxxv, 82, 85, 86, 94, 100
in microfluidic environments, 82
Obstacle avoidance algorithm, 82, 96
Obstacle avoidance approach, 82, 86
Obstacle avoidance method, 82, 85
Obstacles, 7, 10, 86, 94, 100, 178, 222
Optical microscope, 168
Organisms, 107, 135, 136
Orientation of cells, 225
Original position, 12, 97, 213, 215
Outer ear, 23

P

Path, 215
Payloads, 61, 167, 181
PEG microbeads, 40, 45
drug-loaded, 40
PLL-coated, 42–44
synthesis of, 41
Peg microbeads, for therapeutic microrobot, 40
Penetration, 76, 147, 151, 158
Perilymph, 24, 25, 30
Phase lag, 231, 234, 236, 237, 241
steady-state, 236
Phototaxis, xxix, 47, 222
Physical vapor deposition (PVD), 145
Physiological environment, 40, 116
Physiology, 107, 198, 199
Planar stiffness, 199, 204, 206
Planes of symmetry, 117, 120
Plasma, 42
O, 3, 47, 52, 54, 56
PLL (poly-L-lysine), 40, 42, 47, 49, 56
PLL-coated PEG microbeads, 42
PLL-coated surface, 42
Point-dipole model, 184, 187
Poly ethylene glycol (PEG), 39, 40, 56, 94, 148
Polydimethylsiloxane (PDMS), 41, 94, 153, 201, 204, 206
Polymeric microbeads, 179, 191
biodegradable, 165
Polymeric network, 142, 146
Position, 
desired, 7, 82, 181, 186, 188
expected, 85, 88
Position control, 11
Positioning, 42, 63, 75, 173, 191
Positioning accuracy, 63, 69, 72, 75
Power supplies, 94–96, 121, 204, 225, 228
Problem formulation, 183
Propellers, 134, 142, 144, 150
helical, 142
Properties, tumor-targeting, 54
Propulsion, 22, 72, 75, 83, 117, 119, 135, 138, 141, 142, 147, 154, 155
active, 117
collective, xxiv, 83
directional, 145
effective, 143
efficient, xxvii, 147
enhanced, 143, 146
helical, 143
low-Re, 152, 155
microfluidic, xxx
system, 222
with the advantage of increased controllability, 116
Propulsion of achiral microswimmers, 120
Propulsion of microswimmers, 117
Propulsive mechanisms, 108
Proteins, 148
Protozoan, 138, 222
Pyriformis cells, Tetrahymena, 6, 222, 224, 236

R

Reciprocal motion, xxvii, 134, 135, 151, 152
Red blood cells, 139, 174, 200
Reference position, 62, 68, 72
Region-of-convergence, 62, 72
Resistance, 143, 147
Response, xxviii, 24, 82, 192, 200, 222, 223, 241
Reynolds number, 83, 102, 108, 116, 123, 134, 155, 188, 214, 222
Robot, xxiii, 164, 165, 168, 170, 174, 176, 185, 202, 235
differential-drive, 5, 8
in the boundary of the world, 11
Robot control, multiple, xxx
Robot inhomogeneity, 7
Robotic manipulators, 165
multiple magnetic, 165
Robotic microswimmers, xxxvi, 222
Robotic systems, xxvii, 8, 164
Robots, swarms of, 6, 7
Rotating fields, 67, 125, 228, 232, 235, 241
Rotating magnetic fields, 66, 71, 117, 119, 121, 145, 149, 223, 224, 226, 228, 236, 240
Rotation, 83, 118, 120, 141, 145, 146, 189, 222, 227, 231
Rotation frequency, 124, 125, 128, 229, 236
Round window, 24, 31
Round window membrane, 26, 28, 34
RWM, 22, 25

S

Scala tympani, 22, 25
Scanning Electron Microscopy (SEM), 63, 201
Self-actuation, 83, 90, 97
Self-actuation motion, 82, 84, 102
Self-propelled microrobots, 69
Self-propelled soft microswimmers, 135
Self-propelled swimming microrobots, 140
Self-propulsion, 135, 139
Self-propulsion of soft microrobots, 138
Sensibility, 23
Sensing abilities, 202, 222
Sensing capabilities, 211
Sensing microrobot, 204
Sensing probe, 198, 201, 209
Sensors, 56, 200, 204, 206
Sensors, micro-force, 200, 209
Shear rate, 135, 144, 155
Shear-thickening fluid, 154
Shells, 152
Silicon, 204, 207
Simulation, 13, 28, 88, 96, 125, 127, 165, 187
Single magnetic microrobots, 168
Single microrobots, 141, 176
Soft microrobots, 134, 138, 140, 157
Solid tumors, 45
Spiral swimming, xxx
Steering, 75
Step-out frequency, 146, 223, 234, 241
Stiffness, 27, 29, 201, 204, 206
device, 206
Stiffness variance, 211
Straight swimming, 228, 235, 240
Strategies, 147, 150, 158, 181
Streptavidin, 50
Strouhal number, 108
SU-8 microstructures, 48, 54, 83, 94
Submillimeter magnetic mobile microrobots, 198
Substrate, glass, 41, 83, 94
Superposition, 139, 192
Surface, 
of a glass slide, 175
of magnetic micropropellers, 149
of PEG microbeads, 48
of the body, 147
of the cell, xxvii
of the microfabricated structures, 94
of the microorganism, 137
of the microrobot, 151
of the microstructure, 42, 47, 50, 83
Surface modification, 40, 44
Surface modification of biocompatible microbeads, 39
Swarm control, 231, 240
Swarm manipulation, 15
Swarming bacteria, 83, 94
Swarming cells, 94
Swarming colonies, 94
Swarms, 4, 6, 9, 62
Swarms of robots, 6
Swimming, xxvii, 108, 119, 136, 139, 143, 151, 222, 240
in microfluidic environments, 83, 222
Swimming microorganisms, 158
Swimming microrobots, 138
self-propelled, 140
Swimming velocity, 108, 119, 126, 128, 156
Symmetry, 
breaking, 6
planes of, 118
Systemic delivery, 21
Systems, 
biological, 108, 144
electromagnetic, 62, 66
magnetic actuation, 23
microbiorobotic, xxvii
microfluidic channel, 41
microrobotic, 5
nanorobotic, 5, 157
vestibular, 23

T

Tagged microbeads, 171, 177
Target cells, 164, 172, 175
Target locations, 165, 170, 191, 216
Target position, 14, 126, 215
Targeted delivery, 81, 157
Targeted drug delivery, 74, 76, 107, 165
Targeted therapy, 3
Tetrahymena pyriformis, xxviii, 62, 222, 223, 241
Tetrahymena pyriformis culturing, 223
Therapeutic, 21, 39, 45, 54, 116, 192
Therapeutic magnetic microcarriers, 22
Therapeutic microrobot fabrication, 40
Tissue, 142, 144, 157, 197
Torque, 135, 139, 143, 152, 223
Tracking, 123, 170, 176
Vision-based, 170
Trajectories, 88, 169, 181, 186, 228, 232
Translational velocities, 84, 120
Transport, 
chemical, 179
microrobotic, 180
Traveling waves, 136, 139
Traveling-wave deformations, 137, 139, 140
Traveling-wave propulsion, 138, 142
Tubes, capillary, 62, 66, 107
Tumor cell lysates, 53
Tumor-targeting properties, 54
Tympanic membrane, 22

U

Uniform magnetic field, 121, 223
Untethered, 3, 22, 83, 134, 157, 164, 198, 202, 215
Untethered actuation, 198
Untethered device, 198
Untethered magnetic microrobots, 164
Untethered microrobots, 157

V

Velocity, angular, 7, 67, 83, 120, 212
Versatile microrobot platform, 222
Versatility of artificial traveling-wave self-propulsion, 141
Viscoelastic model, 27, 30
Viscosity, xxvii, 25, 135, 145, 154, 200
Viscous model, 26
Vision based sensing, 198, 201, 209, 215
Vision system, 205
Vision-based tracking, 170

W

Water, 135, 142, 145, 148, 156, 167, 188
Weak magnetic fields, 62, 145
Weak magnetized cell, 234
Wireless actuation, 164
of microrobots, 164
Wireless magnetic mobile microrobot, 202
Workspace, 11, 73, 94, 98, 164, 169, 177, 182, 185, 187, 198, 203, 211
for the robot, 164

Y

Yeast cells, xxiv, 174
budding, 174
dispersed, 175
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