Modular Microrobot Unit Cells for Magnetic Shape Change in Confined Spaces

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Solution Overview

Problem

Existing small-scale magnetically controlled robots face limitations in confined spaces due to low intrinsic stiffness and inability to deform under tissue resistance, and they are not designed for effective drug delivery or functional biomedical tasks.

Innovation Solution

The development of unit cells with a base and top plate, a lumen, and a side wall formed by cojoined panels that can be magnetically actuatable, allowing transitions between contracted and extended configurations for complex motions and functionalities, including drug delivery.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If existing soft magnetic robots are designed for locomotion with low intrinsic stiffness, then they can achieve complex motions through body morphing, but they lose function in confined spaces as they cannot deform under tissue resistance

Engineering Contradiction:

Improvecomplex motions capabilityVSAvoidintrinsic stiffness

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The robot is divided into multiple unit cells, each capable of independent actuation. This segmentation allows different regions of the robot to have different stiffness characteristics, enabling complex motions in compliant regions while maintaining structural integrity and resistance capability in other regions through the modular architecture

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robot employs dynamically adjustable stiffness through magnetic actuation of individual unit cells. By selectively actuating specific unit cells, the robot can transition between soft and stiff states, enabling it to navigate confined spaces when needed while maintaining strength when required

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If existing soft magnetic robots are designed for locomotion, then they can achieve movement capabilities, but they are not designed for functional biomedical tasks such as effective drug delivery, as carrying objects significantly hinders their moving capability

Engineering Contradiction:

Improvefunctional task capabilityVSAvoidmoving capability

Core Design Contradiction:

Adaptability or versatilityVSSpeed

Solution Approach 1:

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The unit cell design integrates multiple functions within a single modular component. Each unit cell can contribute to locomotion through its actuation capabilities while simultaneously serving as a structural element for carrying payloads or performing drug delivery functions, eliminating the trade-off between movement capability and functional task performance

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If unit cells are designed with cojoined panels for magnetic actuation, then they can transition between contracted and extended configurations for shape-changing capabilities, but the device complexity increases

Engineering Contradiction:

Improveshape-changing capabilityVSAvoidstructural complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The complex shape-changing functionality is divided into multiple simple unit cells, each with a standardized panel structure. This segmentation transforms the overall system complexity into manageable modular units that can be independently actuated and assembled, reducing the practical difficulty of manufacturing and control while achieving sophisticated collective behavior

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of creating a complex continuous structure and attempting to actuate it, the invention inverts the approach by assembling complex functionality from simple discrete unit cells. Each unit cell uses a straightforward panel-joint structure that is easy to manufacture, and the complexity emerges from the arrangement and coordinated actuation of these simple units rather than from individual component complexity

Inventive Principle:

Principle #13The other way round (Inversion)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The unit cells enable remote actuation for shape-changing capabilities and functional tasks, such as drug delivery, by transitioning between configurations using an applied magnetic field, enhancing their performance in confined spaces and biomedical applications.

Implementation Method 1

the applied magnetic field generates a magnetic torque on the unit cell

Methodology Applied

Scientific EffectMagnetic torque: Torque

Data Source

PatentUS20260054034A1Microrobots with distributed actuation

Publication Date: 2026.02.26 OHIO STATE INNOVATION FOUND

AI summary

Described herein are unit cells including a base plate; a top plate; and a lumen extending longitudinally from the base plate to the top plate, the lumen defined by a side wall formed from a plurality of cojoined panels extending between a bottom surface of the top plate and a top surface of the base plate. The unit cell can be magnetically actuatable, such that the unit cell can be reversibly transitioned between a contracted configuration, an extended configuration, or a combination thereof using an applied magnetic field.