Multimodal Bubble Microrobot Near an Air–Water Interface

Abstract

The development of multifunctional and robust swimming microrobots working at the free air-liquid interface has encountered challenge as new manipulation strategies are needed to overcome the complicated interfacial restrictions. Here, flexible but reliable mechanisms are shown that achieve a remote-control bubble microrobot with multiple working modes and high maneuverability by the assistance of a soft air-liquid interface. This bubble microrobot is developed from a hollow Janus microsphere (JM) regulated by a magnetic field, which can implement switchable working modes like pusher, gripper, anchor, and sweeper. The collapse of the microbubble and the accompanying directional jet flow play a key role for functioning in these working modes, which is analogous to a "bubble tentacle." Using a simple gamepad, the orientation and the navigation of the bubble microrobot can be easily manipulated. In particular, a speed modulation method is found for the bubble microrobot, which uses vertical magnetic field to control the orientation of the JM and the direction of the bubble-induced jet flow without changing the fuel concentration. The findings demonstrate a substantial advance of the bubble microrobot specifically working at the air-liquid interface and depict some nonintuitive mechanisms that can help develop more complicated microswimmers.