As an emerging field of robotics, magnetic-field-controlled soft microrobot has broad application prospects for its flexibility, locomotion diversity, and remote controllability. Magnetic soft microrobots can perform multimodal locomotion under the control of a magnetic field, which may have potential applications in precision medicine. However, previous research studies mainly focus on new locomotion in a relatively ideal environment, lacking exploration on the ability of magnetic microrobot locomotion to resist external disturbances and proceed in a nonideal environment. Here, a porous silica-doped soft magnetic microrobot is constructed for enhanced stability of multimodal locomotion in the nonideal biological environment. Porous silica spheres are doped into a NdFeB-silicone elastomer base, improving adhesion properties and refining the comprehensive mechanical properties of the microrobot. Multimodal locomotions are achieved, and the influence of porous silica doping on the stability of each locomotion in a nonideal environment is explored in depth. Motions in nonideal circumstances such as climbing, loading, current rushing, wind blowing, and obstacle hindering are conducted successfully with porous silica doping. Such a stability-enhanced multimodal locomotion system can be used in biocatalysis and thrombus removal, and its prospect for precision medicine is highlighted by in vivo demonstration of multimodal locomotion with nonideal disturbance.
Keywords: doping; multimodal locomotion; nonideal biological environment; porous silica; soft magnetic microrobot.