Microrobots: Design, Fabrication and Application

A special issue of Micromachines (ISSN 2072-666X). This special issue belongs to the section "A:Physics".

Deadline for manuscript submissions: 31 May 2026 | Viewed by 1726

Special Issue Editor

State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
Interests: swimming micro and nanorobots; robotic micro- and nanomanipulation; multiparametric/multidimensional characterization at micro/nanoscale surfaces and interfaces

Special Issue Information

Dear Colleagues,

The field of microrobots has emerged as a disruptive frontier in science and technology, where devices and systems at the micro- to milli-scale are engineered to perform complex tasks in challenging environments. Drawing from advancements in micro/nanofabrication, materials science, and robotics, microrobots hold transformative potential to revolutionize a wide array of applications, from biomedicine to microengineering. The ability to design, fabricate, and precisely control these miniature machines opens up new paradigms for targeted therapy, minimally invasive surgery, and environmental monitoring. We are pleased to invite you to contribute to this Special Issue of Micromachines, entitled “Microrobots: Design, Fabrication and Application”.

This Special Issue aims to compile a collection of high-quality research articles and reviews that address the core challenges and opportunities in microrobots. We seek to highlight recent breakthroughs in design strategies, innovative fabrication techniques, and novel applications that demonstrate the significant utility of these systems. The subject of this issue is central to the scope of Micromachines, which focuses on the science and technology of miniaturized devices and systems. By exploring the synergy between design, fabrication, and application, this collection will contribute significantly to the journal's mission of advancing knowledge in micromachines and microsystems.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but are not limited to) the following:

  • Microrobots;
  • Microfabrication;
  • Actuation mechanisms;
  • Biomedical microrobots;
  • Lab-on-a-chip.

We look forward to receiving your contributions.

Dr. Hao Zhang
Guest Editor

Manuscript Submission Information

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Keywords

  • microrobots
  • microfabrication
  • actuation mechanisms
  • biomedical microrobots
  • lab-on-a-chip

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Published Papers (2 papers)

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Research

25 pages, 27482 KB  
Article
A Compliant SMA-Actuated Capsule Robot with Integrated Locomotion and Steering for Wireless Capsule Endoscopy
by Ahmad M. Alshorman, Bashar Sh. Al-zu’bi, Omar A. Ababneh, Abdel Rahman Al Manasra, Khaled Alshurman and Tarik Alhmoud
Micromachines 2026, 17(4), 471; https://doi.org/10.3390/mi17040471 - 14 Apr 2026
Viewed by 722
Abstract
Wireless Capsule Endoscopy (WCE) is a minimally invasive technology for imaging the gastrointestinal (GI) tract, particularly the small intestine, where conventional endoscopy faces accessibility limitations. Traditional capsule endoscopes rely on passive motion driven by natural peristalsis, which limits controllability and may increase the [...] Read more.
Wireless Capsule Endoscopy (WCE) is a minimally invasive technology for imaging the gastrointestinal (GI) tract, particularly the small intestine, where conventional endoscopy faces accessibility limitations. Traditional capsule endoscopes rely on passive motion driven by natural peristalsis, which limits controllability and may increase the risk of capsule retention. To address these challenges, this study presents the design and experimental validation of a compliant active capsule endoscope actuated by four Shape Memory Alloy (SMA) spring actuators. A key feature of the proposed system is a steering mechanism that reuses the same SMA actuators responsible for locomotion, enabling control of the camera orientation without increasing system complexity, size, or weight. The capsule architecture consists of rigid polylactic acid (PLA) links connected through thermoplastic polyurethane (TPU) flexure hinges, fabricated using dual-material 3D printing. Nonlinear finite element analysis (FEA) was employed to optimize the flexure hinge geometry for maximum displacement while maintaining safe stress levels. To validate the concept, a 3.5× scaled prototype was fabricated and integrated with SMA actuators and an Arduino-based control system. The experimental results demonstrate effective locomotion and steering capabilities, achieving a maximum stroke of approximately 5.4 mm and a steering angle of 24° for the 3.5× scaled prototype, corresponding to an estimated stroke of approximately 1.98 mm (Based on the FEA) at the intended clinical scale. Thermal characterization of the SMA actuators was also conducted to identify suitable operating current ranges for future biomedical deployment. The results demonstrate the feasibility of integrating locomotion and steering within a compact compliant capsule architecture, representing a step toward next-generation capsule endoscopy systems with improved navigation and diagnostic capability. Full article
(This article belongs to the Special Issue Microrobots: Design, Fabrication and Application)
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17 pages, 5188 KB  
Article
Selective Magnetic Field Generation Method for Effective Manipulation of Two-Dimensional Magnetic Microrobots Using a Triad of Electromagnetic Coils
by Dongjun Lee, Yonghun Lee and Seungmun Jeon
Micromachines 2026, 17(3), 337; https://doi.org/10.3390/mi17030337 - 10 Mar 2026
Viewed by 457
Abstract
This study proposes a new method for effectively manipulating a magnetic microrobot in a two-dimensional manner using a triad of electromagnetic coils (TEC). A TEC is a system consisting of three circular coils of the same type arranged in the form of a [...] Read more.
This study proposes a new method for effectively manipulating a magnetic microrobot in a two-dimensional manner using a triad of electromagnetic coils (TEC). A TEC is a system consisting of three circular coils of the same type arranged in the form of a triangle. It has a simple structure and exhibits magnetic symmetry. This study sought to develop a method to more accurately manipulate and reduce the energy consumption of microrobots using a TEC. This was accomplished by selectively using individual coils of a TEC with respect to the robot’s position, moving direction, and other manipulating conditions based on the structural characteristics and magnetic field distribution pattern of the TEC. Effective calculation methods and operating procedures are also proposed. The proposed method was found to effectively generate the necessary actuation force to control microrobots by using either one or two of the coils of a TEC, depending on the given conditions. This type of process results in improved precision in magnetic field generation and a reduction in energy consumption while making it easier to control microrobots. Magnetic fields and actuation forces were generated using the proposed method under various experimental conditions, and these results were verified through simulations to confirm the validity of the proposed method. In addition, a TEC and a closed-loop control system were built and used to test the actuation of microrobots over various paths, and the results confirmed the superiority of the proposed method compared to existing methods. Full article
(This article belongs to the Special Issue Microrobots: Design, Fabrication and Application)
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