ArticleiScience2026
Modular reconfiguration and actuation of microrobotic assemblies.
Article in iScience, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Authors and funding
3 authors.
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Abstract
Transport in microfluidic systems occurs under low-Reynolds-number conditions, where localized particle manipulation requires controlled fluid-structure interaction. Here, a modular magnetic microfluidic robotic assembly was developed using soft-bodied, hard-magnetic, and arc-shaped modules that self-assembled under external magnetic fields, underwent oscillatory actuation, and reversibly disassembled within the same platform. Field modulation enabled transitions between force- and torque-dominated regimes, allowing periodic deformation to be transmitted from the actuated legs to the functional head region. During oscillatory actuation, particles were redistributed via contact-assisted sweeping, accompanied by localized fluid disturbance. Forward and backward transport efficiencies of 91.1% ± 3.6% and 92.1% ± 2.6% were achieved, with a round-trip retention efficiency of 83.8% ± 4.8%. Frequency-dependent analysis identified an actuation condition that balanced deformation transmission and actuation rate. This work provides a basis for programmable microrobotic transport and localized manipulation in confined microfluidic environments.
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