magnetically driven micro and nanorobots

T1 - Magnetically Driven Micro and Nanorobots. Miniaturization of these robotic platforms has led to numerous applications that leverages precision medicine. The actuated by other propulsion sources. The past few years have witnessed rapid developments in this field. When the adipose tissue is fibrotic and too dense, the catheter can be deflected, and the surgeon must adjust the tip to redirect the catheter to the desired path. Chen X., Liu J.-H., Mei D., Mller L., Chatzipirpiridis G., Hu C., et al.. (2019). Propulsion of (quasi-)spherical MagRobots. the removal of microplastics (i.e., PS spheres). 2020 American Chemical Society. Apart from H 2 O 2, hydrazine (N 2 H 4) was also used as fuel to propel micro-/nanorobots chemically (Ibele et al. the assistance of coiled flow template. Copyright 2014 Macmillan Publishers Most chemically powered micro-/nanorobots are based on the catalytic decomposition of hydrogen peroxide (H 2 O 2) (Sanchez et al. These concepts are discussed to describe the interactions between micro/nanorobots and magnetic fields. by UV light through a mask, (v) removing uncross-linked chemicals, In case of electrode migration, magnetic forces created by magnetic gradients perpendicular or parallel to the aligned field could be used to non-invasively and precisely move the electrode to the desired stimulation site. Federal government websites often end in .gov or .mil. (D) Preparation Abstract. Verlag GmbH and Co. KGaA, Weinheim. (E) Released drugs from hydrogel-based Development of a sperm-flagella driven micro . However, commonly used physical hybridization approaches can lead to blockages and damage to biological interfaces, impeding the optimal exploitation of natural abilities. Microrobotic swarms have attracted extensive attentions due to their potential in medical and bioengineering applications. Since neuronal stimulation in the brain has already been demonstrated (Yue et al., 2012; McGlynn et al., 2020; Singer et al., 2020; Kozielski et al., 2021), this can serve as an intriguing technology for SCS. Origami-inspired approach to prepare microswimmers by one-step photolithography. Martel S., Mohammadi M., Felfoul O., Lu Z., and Pouponneau P., " Flagellated magnetotactic bacteria as controlled MRI-trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature," The International journal of robotics research, vol. 2. Copyright 2020 American The present review is dedicated to novel. Bethesda, MD 20894, Web Policies Recent strides in micro and nanofabrication technologies have enabled researchers to design and develop micro and nanoscale robotic systems with enhanced power, functionality, and versatility. However, both of these fuels, H 2 O 2 and N 2 H 4, are cytotoxic. (ii) etching of Cu and collection of helical structures, (iii) deposition Bethesda, MD 20894, Web Policies Copyright 2019 WILEY-VCH ref (216). 2018 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim. No. . indicates the direction of the short axis while red indicates the Biocompatible encapsulation of CMOS based chemical sensors. (2019). Download Download PDF. (2017). Copyright For improved detection of these obstacles, surgeon and control algorithms would require 3-dimensional visual feedback using biplanar fluoroscopic imaging during electrode guiding and placement, or in combination with other imaging techniques, such as pre-operative MRI and trajectory modeling (Jonathan and Groen, 2005; Hong et al., 2015, 2019; Hu et al., 2018). (F) Fabrication of helical microrobots with hollow structures with Disclaimer, National Library of Medicine (A) (a) Fabrication, Fabrication of magnetic nanowires by TAED and some examples. Diagrammatic summary of this review including (but not An official website of the United States government. (B) Schematic Copyright GmbH Berlin Heidelberg. The https:// ensures that you are connecting to the In addition to tethered electrode steering, we discuss the navigation of untethered micro- and nanorobots for wireless and remote neuromodulation. sharp end penetrating into a pig liver after drilling motion. the Advancement of Science. Grady M. S., Howard M. A., Dacey R. G., Blume W., Lawson M., Werp P., et al.. (2000). Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion approaches, and magnetic stimulation of micro/nanorobots beyond motion are provided followed by fabrication techniques for (quasi-)spherical, helical, flexible, wire-like, and biohybrid MagRobots. (C) Underlying 2015, 25, 53335342. Go to reference in article; Crossref; Google Scholar [6] Loget G and Kuhn A 2011 Electric field . a single cell by peanut-like hematite microrobots. Design, fabrication and application of magnetically actuated micro/nanorobots: a review. Nan C. W., Bichurin M. I., Dong S., Viehland D., Srinivasan G. (2008). (F) Particle targeting. Verlag GmbH and Co. KGaA, Weinheim. Tracking a magnetically guided catheter with a single rotating C-Arm, 2015 IEEE International Conference on Robotics and Automation (ICRA). Reproduced with permission from ref (217). Magnetically guided ultrasound-powered nanowire motors, functionalized with bioreceptors and a drug-loaded . Armin K., Malkinski L., Caruntu G. (2012). Li J, Dekanovsky L, Khezri B, Wu B, Zhou H, Sofer Z. Cyborg Bionic Syst. In micro- and nanorobotic applications, magnetoelectric devices are mostly made from magnetoelectric composites that exhibit coupling between ferromagnetism and ferroelectricity (Spaldin and Fiebig, 2005; Wang et al., 2010) and consist of a structural combination of magnetostrictive and piezoelectric materials (Figure 2D) (Wang et al., 2010). Kozielski K. L., Jahanshahi A., Gilbert H. B., Yu Y., Erin ., Francisco D., et al.. (2021). Focus on fundamentals: achieving effective nanoparticle targeting. physics of the magnetoelectrically triggered drug (i.e., AZTTP) release A.i . Dual Ultrasound and Photoacoustic Tracking of Magnetically Driven Micromotors: From In Vitro to In Vivo. Spinal cord stimulation in primary progressive freezing of gait. A variable stiffness catheter controlled with an external magnetic field, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). The Infona portal uses cookies, i.e. (2004). Publishers Limited. Employed in two industrial projects of Dr.Habib Badri Ghavifekr, which are about . (C) Ciliary stroke motion of artificial micromotors. See this image and copyright information in PMC. Copyright 771565. Ribeiro C., Correia V., Martins P., Gama F. M., Lanceros-Mendez S. (2016). Pane S, Zhang L and Pumera M 2021 Magnetically driven micro and nanorobots Chem. (A) Synthesis process of, Representative examples of biohybrid MagRobots, Representative examples of biohybrid MagRobots fabricated by four methods. Full PDF Package Download Full PDF Package. Another major benefit of MNS is the possibility to re-adjust the SCS electrodes in an outpatient setting without the necessity of a repeated surgical procedure. Magnetically Driven Micro and Nanorobots Chem Rev. helical micromotors. Careers. Recent Advances in One-Dimensional Micro/Nanomotors: Fabrication, Propulsion and Application. Abstract Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Reproduced with permission from ref (166). Copyright Springer Science + Business Media, red blood cells or (F) platelets. Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Method 2: MagRobots prepared Rocket Appartamento - In Depth Review - Espresso Outlet. Chemical Society. Copyright Please enable it to take advantage of the complete set of features! would like to thank the financial support from the Hong Kong Research Grants Council (RGC) under Project No. 2020 The Authors, some rights reserved; exclusive licensee American (B) Fabrication procedure of pH-sensitive soft MagRobot. from ref (296). Micro/nanorobots are classified as magnetically driven, chemically driven, ultrasound-driven, light-driven, or electrically driven, depending on the power source used. JLFS/E-402/18, the ITF Projects under Projects MRP/036/18X and ITS/374/18FP funded by the HKSAR Innovation and Technology Commission (ITC), the Hong Kong Croucher Foundation project under Ref. nanorobot, spinal cord stimulation, magnetic steering, neurorobotics, microrobot. The renaissance of magnetoelectric multiferroics. Representative examples of biohybrid MagRobots surface modification, and (vi) fusion of platelet-membrane-derived 10.1021/acs.chemrev.0c00535. Reproduced with permission from ref (245). official website and that any information you provide is encrypted The information regarding microrobots that appears in this study is applicable to nanorobots as well. All rights reserved. (A) Biohybrid micro/nanorobots that integrate biological entities with artificial nanomaterials have shown great potential in the field of biotechnology. by using Janus micropropellers. Chesnitskiy AV, Gayduk AE, Seleznev VA, Prinz VY. LLC 2013. Attribution License. and (vi) releasing microgrippers from the wafer by dissolving the A force to be reckoned with: a review of synthetic microswimmers powered by ultrasound. Surface-assisted motion of an AuAgNi nanowire. Modulation of neuroglial interactions using differential target multiplexed spinal cord stimulation in an animal model of neuropathic pain. Publisher Copyright: {\textcopyright} 2021 American Chemical Society. with permission from ref (129). Chen X.-Z., Hoop M., Shamsudhin N., Huang T.-Y., Ozkale B., Li Q., et al.. (2017b). (A) Fabrication process of, Schematic illustrations of the representative fabrication processes of flexible MagRobots. of a hybrid MagRobot with flexible DNA flagella via DNA self-assembly PPF segments by UV light through a mask, (iii) coating pNIPAM-AAc Adapted with permission from Boston Scientific. SCS implantation is typically divided into two stages. Magnetic navigation systems (MNS) are an emerging technology permitting precise and dynamic steering of surgical probes (Zemmar et al., 2020). (2020). Spinal cord stimulation in chronic pain: evidence and theory for mechanisms of action. Due to the characteristics distinguishing from macroscopic robots, micro- and . This short review intends to address recent progress on magnetically driven micro- and nanorobots developed in our laboratory and by other research groups. MH and AB edited the manuscript. Epub 2018 Feb 14. Copyright 2015 American The new PMC design is here! an island of, Representative pollutant removal by active MagRobots. Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. (2015). Ilami M., Ahmed R. J., Petras A., Beigzadeh B., Marvi H. (2020). UR - http://www.scopus.com/inward/record.url?scp=85104965511&partnerID=8YFLogxK, UR - http://www.scopus.com/inward/citedby.url?scp=85104965511&partnerID=8YFLogxK. The main advantages of MRI lie in high soft . (F) Origami-like Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion approaches, and magnetic stimulation of micro/nanorobots beyond motion are provided followed by fabrication techniques for (quasi-)spherical, helical, flexible, wire-like, and biohybrid MagRobots. system consists of only a single permanent magnet. (b) Fabrication of a flexible magnetic filament (A) Magnetic guidance of biohybrid microbot into Magnetically Driven Micro and Nanorobots. Copyright 2015 The Authors, some rights reserved; exclusive Long-term outcomes of the current remote magnetic catheter navigation technique for ablation of atrial fibrillation. Magnetic control of a flexible needle in neurosurgery. Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Reproduced with permission from ref (102). The traditional SCS system includes the SCS lead(s), the implantable pulse generator (IPG), and the extension wire(s), which connect(s) the lead(s) to the IPG (Figure 1A). Magnetically Driven Micro and Nanorobots | Chemical Reviews. The site is secure. (F) Electromagnetic actuation system using a stationary Propulsion of an elastic filament in a shear-thinning fluid. Hong A., Petruska A. J., Nelson B. J. Many researchers have selected magnetic fields as the active external actuation source based on the advantageous features of this actuation strategy such as remote and spatiotemporal control, fuel-free, high degree of reconfigurability, programmability, recyclability, and versatility. Copyright 2018 The Authors, some rights reserved; The present review is devoted to bioinspired micro- and nanorobots driven by the external magnetic field for tasks of targeted drug delivery and some other therapeutic solutions for oncology, hematology, medical imaging, etc. When the lead has been successfully navigated to the target location, surgeons can proceed as usual and connect an IPG manually. Publications . Yellow title = "Magnetically Driven Micro and Nanorobots". licensee American Association for the Advancement of Science. This review introduces fundamental concepts and advantages of magnetic micro/nanorobots (termed here as "MagRobots") as well as basic knowledge of magnetic fields and magnetic materials, setups for magnetic manipulation, magnetic field configurations, and symmetry-breaking strategies for effective movement. Reproduced with permission Bio-inspired magnetic-driven folded diaphragm for biomimetic robot. Copyright 2017 American Chemical Society. Fiber-optic force sensors for MRI-guided interventions and rehabilitation: a review. Micro- and Nanobiomedical Engineering; Publications; Voice. /. with permission from ref (124). from ref (345). will also be available for a limited time. Chen X. Semantic Scholar is a free, AI-powered research tool for scientific literature, based at the Allen Institute for AI. with permission from ref (222). Magnetic needle guidance for neurosurgery: initial design and proof of concept, 2016 IEEE International Conference on Robotics and Automation (ICRA). of applying magnetic fields to micro/nanorobots Magnetoelectric materials for miniature, wireless neural stimulation at therapeutic frequencies. Lead tip angle and direction guided by magnetic fields and advanced in the epidural space with a catheter controller (adapted with permission from Zemmar et al., 2020). Accessibility The components consist of lead electrodes, the implantable pulse generator (IPG), a remote control for the patient and a tablet for the physician to program the device after implantation. of hairbots by sectioning a bundle of hair by ultramicrotome and then Verlag GmbH and Co. KGaA, Weinheim. Magnetically Driven Micro and Nanorobots. Reproduced with permission from Scheepers M. R. W., van IJzendoorn L. J., Prins M. W. J. Reproduced with permission from ref (122). Reproduced with permission from ref (270). from ref (297). This maneuver can be impeded with complex anatomy, often seen in patients with degenerative spine disease, or for targets in which the SCS lead has to be placed within confined spaces such as the dorsal root ganglion (Caylor et al., 2019) (Figure 1B). al. No. Khan F., Denasi A., Barrera D., Madrigal J., Sales S., Misra S. (2019). multilink nanowires with flexible silver hinges under a planar oscillating (A) Propulsion of a TiO. Fundamental concepts and advantages of magnetic micro/nanorobots as well as basic knowledge of magnetic fields and magnetic materials, setups for magnetic manipulation, magnetic field configurations, and symmetry-breaking strategies for effective movement are introduced. Wang Y., Hu J., Lin Y., Nan C. W. (2010). Soto F., Karshalev E., Zhang F., Esteban Fernandez de Avila B., Nourhani A., Wang J. Copyright 2018 American Chemical Society. When the adipose tissue is fibrotic, the catheter will simply evade and be re-directed due to tissue forces, and action from the surgeon or navigation system must be taken to redirect the catheter to the desired path (Figure 2C). Anaesth. Rev. Copyright 2017 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim. Copyright 2019 Elsevier Ltd. (D) Preparation of liquid metal MagRobots. kidney cells when in targeted contact with helical microrobots loaded On the other hand, increased steering freedom, would grant access to locations that are difficult to reach, such as dorsal root ganglia (Jonathan and Groen, 2005; Swaney et al., 2013; Caylor et al., 2019). Tabrz, East Azerbaijan, Iran. of nanorobots. Copyright 2018 WILEY-VCH Verlag GmbH and Co. Both MRI and MPI are magnetic-based imaging techniques. Worked on a navel micro-pump, magnetically driven micro-pump, based on the Flex Printed Circuit Board (FPCB) technique for drug delivery applications. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). (B) Magnetic actuation Any product that may be evaluated in this article, or claim that may be made by its manufacturer, is not guaranteed or endorsed by the publisher. -, Li J.; Esteban-Fernndez de vila B.; Gao W.; Zhang L.; Wang J. Micro/Nanorobots for Biomedicine: Delivery, Surgery, Sensing, and Detoxification. Strong lateral tissue forces may require relatively high magnetic field strengths to hold the electrode tip on the pre-planned trajectory. Reproduced Applications of MagRobots in targeted drug/gene delivery, cell manipulation, minimally invasive surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery, pollution removal for environmental remediation, and (bio)sensing are also reviewed. Caylor J., Reddy R., Yin S., Cui C., Huang M., Huang C., et al.. (2019). Wang Z, Xu Z, Zhu B, Zhang Y, Lin J, Wu Y, Wu D. Nanotechnology. Unable to load your collection due to an error, Unable to load your delegates due to an error. of microgrippers into the porcine biliary orifice using an endoscope-assisted M.P. (A) Rotation, Flagellar-based propulsion mechanisms. Smart dental materials for antimicrobial applications. Contributions to collected editions/proceedings goto. Reproduced (2020). of murine zygote. doi: 10.1088/1361-6528/ac43e6. The achievements of manufacturing micro- and nanorobots by incorporating different magnetic nanoparticles, such as diamagnetic, paramagnetic, and ferromagnetic materials, are discussed in detail, highlighting the importance of a rational use of magnetic materials. POS Terminal Word Template 15357 | PoweredTemplate.com. Today 9, 37-48. Limited. Magnetic navigation systems (MNS) represent a novel technology that uses externally placed magnets to precisely steer tethered and untethered devices. (A) (a) Fabrication process of temperature-sensitive LL2002 under ERC-CZ program. Reproduced with permission from ref (106). Federal government websites often end in .gov or .mil. Prasad S., Aguirre-Padilla D. H., Poon Y. Y., Kalsi-Ryan S., Lozano A. M., Fasano A. Reproduced with permission from ref (103). Hu X., Chen A., Luo Y., Zhang C., Zhang E. (2018). Copyright 2014 Springer-Verlag Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion . Schematic image and This article is licensed under a Creative Commons doi: 10.1002/adma.201705061. vesicles to the modified surface. Here we report a new class of artificial nanomachine, named magneto-acoustic hybrid nanomotor, which displays efficient propulsion in the presence of either magnetic or . 2018 Apr;30(15):e1705061. ), or their login data. Swaney P. J., Burgner J., Gilbert H. B., Webster R. J. 2015 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim. Drag forces, that are often a limiting cause for targeted micro- and nanorobot delivery, may not need to be considered in the epidural space, as little flow is present. Magnetically Driven Micro and Nanorobots. Note the difference in trajectory curvature between these two applications. motion in a high Reynolds number fluid and reciprocal motion in a Reproduced Copyright The integrated magnets in the tip must be arranged and designed to comply with current surgical access methods through Tuohy needles. of the Creative Commons CC BY license. Field-Driven Micro and Nanorobots for Biology and Medicine November 21, 2021 . Z., Ferrari A., Mushtaq F., Ghazaryan G., Tervoort T., et al.. (2017). 2021 Apr 28 . Spinal cord stimulation improves gait in patients with Parkinson's disease previously treated with deep brain stimulation. (A) Schematic image of Purcells scallop presenting a nonreciprocal motion in a high, Flagellar-based propulsion mechanisms. to the motion of MagRobots. (B) Variable stiffness catheters enabling complex catheter shapes (adapted with permission from Chautems et al., 2017). This deformation is transferred to a bonded piezoelectric shell, which in turn generates electrical surface charges. By clicking accept or continuing to use the site, you agree to the terms outlined in our. No. from ref (158). ref (128). (A) Directional Yue K., Guduru R., Hong J., Liang P., Nair M., Khizroev S. (2012). (E) Alignment of magnetic moment of microrobots with an external magnetic field. Application of these robots in the biomedical or environmental field is summarized. Would you like email updates of new search results? 1. Magnetically controlled probes could be the precursor of untethered magnetic devices. Duliska-Litewka J., azarczyk A., Haubiec P., Szafraski O., Karnas K., Karewicz A. Candidates who have satisfactory results during the trial stage undergo permanent implantation of an implantable pulse generator (IPG), which is placed subcutaneously or subfascial in the gluteal or abdominal region (Rock et al., 2019). of PVDF-Ppy-Ni nanoeels. Biohybrid Micro- and Nanorobots for Intelligent Drug Delivery. cells using superparamagnetic/Pt Janus micromotors via bubble propulsion S4 is reproduced with permission from ref (142). Therefore, there is an urgent need to combine the features (high cargo . Using external magnetic fields, micro- and nanorobots can be propelled with magnetic gradient forces or magnetic torque through rotating fields (Pawashe et al., 2009; Chen et al., 2018). steps of acid-stable enzyme-functionalized MagRobots by GLAD. workplace for actuating and visualizing MagRobots. Magnetically driven mobile micro/nanorobots have a significant influence on the application and development of intelligent targeted drug delivery. the Advancement of Science. Highly Efficient Freestyle Magnetic Nanoswimmer. Publisher Copyright: Utilizing Untethered Magnetic Micro- and Nanorobots for SCS. hyperthermia, thermophoresis, (A) Rotation of bacterial S.P. (A). Because of the small sizes of swarm agents, integrating actuators, Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small. Nelson B. J., Kaliakatsos I. K., Abbott J. J. (C) (a) Transport Many researchers have selected magnetic fields as the active external actuation source based on the advantageous features of this actuation strategy such as remote and spatiotemporal control, fuel-free, high degree of reconfigurability, programmability, recyclability, and versatility. Flagellar-based propulsion mechanisms. Before Magnetoelectrics: hybrid magnetoelectric nanowires for nanorobotic applications: fabrication, magnetoelectric coupling, and magnetically assisted. Terzopoulou A.; Nicholas J. D.; Chen X.-Z. (D) Magnetically powered microspirals for the delivery The concepts of micro and nanorobots are often interchangeable. Crit. A new class of artificial nanomachine, named magneto-acoustic hybrid nanomotor, which displays efficient propulsion in the presence of either magnetic or acoustic fields without adding any chemical fuel, holding considerable promise for diverse practical biomedical applications of fuel-free nanomachines. Many researchers have selected magnetic. 03627 - Nelson, Bradley J. (2020). of Ni and Au layers, (iv) collection of helical nanostructures, (v) Verification of the location of the SCS electrode with fluoroscopy can be obtained if desired. (A) Directional motion of walnut-like magnetic micromotor, (A) Helical nanorobots as mobile viscometers. (H) RGB-cloaked bacterium, (I) microalgae, or (J) sperm. Steerable catheters in cardiology: classifying steerability and assessing future challenges. Reproduced with permission from ref (287). Nat Commun. (A) Schematic process of removing Reproduced with permission from ref (348). from ref (223). exclusive licensee American Association for the Advancement of Science. Copyright Copyright 2020 The Authors, Reproduced with permission from ref (306). Surfaces of particles can be decorated with ligands which are designed to bond to receptors on the cell surface to immobilize particles at the desired target location (adapted with permission from Scheepers et al., 2020). 2018 American Chemical Society. Spinal cord stimulation for very advanced parkinson's disease: a 1-year prospective trial. Chen X., Shamsudhin N., Hoop M., Pieters R., Siringil E., Sakar M., et al.. (2015). In this review, the current trends of medical micro and nanorobotics for therapy, surgery, diagnosis, Clipboard, Search History, and several other advanced features are temporarily unavailable. The most common complications of SCS implantation include electrode migration, hardware malfunction and fracture of electrodes, tolerance to SCS, infection, cerebrospinal fluid (CSF) leakage and pain or hematoma/seroma at the pulse generator site (Bendersky and Yampolsky, 2014). Reproduced with permission By modulation of the external magnetic field input, the electrical field amplitude and shape could be adjusted as desired (Nan et al., 2008; Armin et al., 2012). fabrication processes Materials (Basel). Efficient and controlled nanoscale propulsion in harsh environments requires careful design and manufacturing of nanomachines, which can harvest and translate the propelling forces with high spatial and time resolution. Additional feedback and situational awareness could be delivered by FBGs (Su et al., 2017). microswimmer for active labeling. magnetic field. HelmholtzMaxwell coil and a rotational HelmholtzMaxwell of millipede-like soft robots. Reproduced with Copyright 2015 The authors. Taccola G., Barber S., Horner P. J., Bazo H. A. C., Sayenko D. (2020). Copyright (2010). The https:// ensures that you are connecting to the
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