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Mathematical Modeling of Swimming Soft Microrobots - 1st Edition - ISBN: 9780128169452

Mathematical Modeling of Swimming Soft Microrobots

1st Edition

Authors: Islam S.M. Khalil Anke Klingner Sarthak Misra
Paperback ISBN: 9780128169452
Imprint: Academic Press
Published Date: 9th July 2021
Page Count: 240
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Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency.

Key Features

  • Enable the readers to develop numerical models of a wide range of microrobotic systems
  • Enable the reader to optimize the design of the microrobot to enhance its swimming efficiency
  • The focus on the development of numerical models that enables Engineers to predict the behavior of the microrobots and optimize their designs to increase their swimming efficiency
  • Provides videos to demonstrate experimental results and animations from the simulation results


Post-doctoral research associates, Graduate students; and Senior undergraduate students studying fluid dynamics, microfluidics, microrobotics, and in research laboratories

Table of Contents

1. Introduction

Part I Fundamentals of the Theory of Elasticity
2. Review of Classical Mechanics
3. Two-Dimensional Deformations

Part II Fundamentals of Electromagnetics
4. Electrostatic and Magnetostatic Fields
5. Magnetic forces and materials

Part III Fundamentals of Fluid Mechanics
6. Viscous fluids
7. Flow with small Reynolds numbers

Part IV Soft Microrobotic Systems
8. Resistive-Force Theory
9. Modelling of Internally Actuated Soft Microrobots
10. Modelling of Externally Actuated Rigid and Soft Microrobots

Part V Appendixes
A: Review of Vector calculus
B: Units Appendix C: Material Constants


No. of pages:
© Academic Press 2021
9th July 2021
Academic Press
Paperback ISBN:

About the Authors

Islam S.M. Khalil

Islam S. M. Khalil is currently an Assistant Professor at the Department of Biomechanical Engineering, University of Twente, the Netherlands. He received his Ph.D. in mechatronics engineering from Sabanci University in 2011, and became a postdoctoral Research Associate with the Robotics and Mechatronics research group and MIRA – Institute for Biomedical Technology and Technical Medicine, University of Twente, the Netherlands. His research interests include modeling, design, and control of soft microrobots, biologically inspired systems, motion control systems, mechatronics system design, and untethered magnetic micro/nanorobotics with applications to micro/nanomanipulation, magnetic manipulation, and targeted drug delivery.

Affiliations and Expertise

Assistant Professor at the Department of Biomechanical Engineering, University of Twente, the Netherland

Anke Klingner

Anke Klingner received the Diploma and Ph.D. degrees in physics from TU Dresden (Germany) and Ulm University (Germany). She is currently an Assistant Professor with the German University in Cairo. For three years she was a researcher and teaching assistant with the University Ulm German. Her research interests include nanotechnology, electrospinning, microfluidic devices, mechanical behavior of polymers, modeling of biologically inspired microrobots, microrobotics, magnetics, fluid dynamics, and characterization of microrobotic systems.

Affiliations and Expertise

Department of Mechanics, German University in Cairo, Cairo, Egypt

Sarthak Misra

Sarthak Misra joined the University of Twente in 2009. He is a Professor in the Department of Biomechanical Engineering within the Faculty of Engineering Technology. He directs the Surgical Robotics Laboratory, and is affiliated with MIRA - Institute for Biomedical Technology and Technical Medicine. He is also affiliated with the Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen. Sarthak obtained his doctoral degree in the Department of Mechanical Engineering at the Johns Hopkins University, Baltimore, USA. Prior to commencing his studies at Johns Hopkins, he worked for three years as a dynamics and controls analyst at MacDonald Dettwiler and Associates on the International Space Station Program. Sarthak received his Master of Engineering degree in Mechanical Engineering from McGill University, Montreal, Canada. He is the recipient of the European Research Council (ERC) Consolidator, Starting and Proof-of-Concept grants, Netherlands Organization for Scientific Research (NWO) VENI and VIDI awards, Link Foundation fellowship, McGill Major fellowship, and NASA Space Flight Awareness award. He is the co-chair of the IEEE Robotics and Automation Society Technical Committee on Surgical Robotics, and area co-chair of the IFAC Technical Committee on Biological and Medical Systems. Sarthak’s broad research interests are primarily in the area of applied mechanics at both macro and micro scales. He is interested in the modeling and control of electro-mechanical systems with applications to medical robotics.

Affiliations and Expertise

Professor, Department of Biomechanical Engineering, University of Twente, Faculty of Engineering Technology, The Netherlands

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