TY - GEN
T1 - Near Surface Effects on the Flagellar Propulsion of Soft Robotic Sperms
AU - Khalil, Islam S.M.
AU - Hafez, Mohamed
AU - Klingnert, Anke
AU - Scheggi, Stefano
AU - Adel, Barbara
AU - Misra, Sarthak
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/11
Y1 - 2018/10/11
N2 - In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ
AB - In this work, we investigate the near surface effects on the flagellar propulsion of externally actuated soft robotic sperms. A group of 250-μ m -long robotic sperms are fabricated using electrospinning, and the influence of a nearby wall on their flagellar propulsion is modeled and characterized inside a fluidic chip with channels of varying width. Our experimental results show that the swimming speed of the robotic sperm decreases by a factor of 2 when its distance to a nearby surface is decreased by 50%, at frequency and precision angle of 5 Hz and 15°, respectively. We also show that the reduction in swimming speed can be mitigated by adapting the beating frequency and the precision angle of the tail and head of the robotic sperm during flagellar propulsion. We also demonstrate point-to-point closed-loop control along a reference trajectory inside a channel of varying width and achieve maximum steady-state error of 5.6μ
UR - http://www.scopus.com/inward/record.url?scp=85056587875&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2018.8488084
DO - 10.1109/BIOROB.2018.8488084
M3 - Conference contribution
AN - SCOPUS:85056587875
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 384
EP - 389
BT - BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PB - IEEE Computer Society
T2 - 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Y2 - 26 August 2018 through 29 August 2018
ER -