{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T13:54:15Z","timestamp":1791122055856,"version":"4.1.0"},"reference-count":73,"publisher":"Wiley","license":[{"start":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T00:00:00Z","timestamp":1791072000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T00:00:00Z","timestamp":1791072000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["RS\u20102024\u201000412515"],"award-info":[{"award-number":["RS\u20102024\u201000412515"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Small"],"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Chemically powered microrobots provide a promising route toward untethered operation at small length scales, but their motion near surfaces is often difficult to predict because it depends strongly on both particle design and the local interfacial environment. Here, we investigate the two\u2010dimensional surface locomotion of cell\u2010sized self\u2010propelled microrobots in aqueous hydrogen peroxide. Planar 15\u00a0\u00b5m microrobots were fabricated by photolithography with different structural materials and electrode configurations, and their motion was examined on substrates with distinct surface conditions. Variations in microrobot structure and substrate environment produced differences in mobility and locomotion mode, including translational, circular, and spiral trajectories. Our force\u2010balance analysis indicates that these behaviors reflect the combined effects of self\u2010phoretic propulsion driven by ionic gradients, viscous drag, and surface interactions. We further find that translational velocity is coupled to trajectory curvature under different interfacial conditions. This relationship is captured by a reduced kinematic model and is consistent with both experiments and simulations. Together, these results provide an experimental and physical framework for understanding and tuning the surface locomotion of chemically powered microrobots.<\/jats:p>","DOI":"10.1002\/smll.76039","type":"journal-article","created":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T13:31:37Z","timestamp":1791120697000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Surface Locomotion of Cell\u2010Sized Microrobots Subject to Adhesive Heterogeneity"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6506-5118","authenticated-orcid":false,"given":"Byung Ha","family":"Kang","sequence":"first","affiliation":[{"name":"Department of Chemical Engineering Massachusetts Institute of Technology  Cambridge Massachusetts USA"},{"name":"Department of Integrated Display Engineering Yonsei University  Seoul Republic of Korea"},{"name":"School of Electrical and Electronic Engineering Yonsei University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3728-9544","authenticated-orcid":false,"given":"Sungyun","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Chemical Engineering Massachusetts Institute of Technology  Cambridge Massachusetts USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-3349-3542","authenticated-orcid":false,"given":"Hyeongho","family":"Min","sequence":"additional","affiliation":[{"name":"Department of Chemical Engineering Massachusetts Institute of Technology  Cambridge Massachusetts USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2944-808X","authenticated-orcid":false,"given":"Michael S.","family":"Strano","sequence":"additional","affiliation":[{"name":"Department of Chemical Engineering Massachusetts Institute of Technology  Cambridge Massachusetts USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,10,4]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.abd7338","article-title":"Integrating Chemical Fuels and Artificial Muscles for Untethered Microrobots","volume":"5","author":"Truby R. L.","year":"2020","journal-title":"Science Robotics"},{"key":"e_1_2_9_3_1","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1146\/annurev-bioeng-081523-033131","article-title":"Medical Microrobots","volume":"26","author":"Iacovacci V.","year":"2024","journal-title":"Annual Review of Biomedical Engineering"},{"key":"e_1_2_9_4_1","doi-asserted-by":"crossref","first-page":"728","DOI":"10.1038\/s41467-023-36215-7","article-title":"Medical Microrobots in Reproductive Medicine from the Bench to the Clinic","volume":"14","author":"Nauber R.","year":"2023","journal-title":"Nature Communications"},{"key":"e_1_2_9_5_1","doi-asserted-by":"crossref","first-page":"24174","DOI":"10.1021\/acsnano.5c03911","article-title":"Technology Roadmap of Micro\/Nanorobots","volume":"19","author":"Ju X.","year":"2025","journal-title":"ACS Nano"},{"key":"e_1_2_9_6_1","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.aec4197","article-title":"Toward Autonomous Robotic\u2010Assisted and Microrobotic Surgery","volume":"12","author":"Yang S.","year":"2026","journal-title":"Science Advances"},{"key":"e_1_2_9_7_1","doi-asserted-by":"crossref","DOI":"10.1002\/aisy.202300130","article-title":"Colloidal State Machines as Smart Tracers for Chemical Reactor Analysis","volume":"5","author":"Zhang G.","year":"2023","journal-title":"Advanced Intelligent Systems"},{"key":"e_1_2_9_8_1","doi-asserted-by":"crossref","DOI":"10.1002\/smll.202501317","article-title":"Programmable Motion of Optically Gated Electrically Powered Engineered Microswimmer Robots","volume":"21","author":"Zehavi M.","year":"2025","journal-title":"Small"},{"key":"e_1_2_9_9_1","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1109\/JPROC.2014.2385105","article-title":"Biomedical Applications of Untethered Mobile Milli\/Microrobots","volume":"103","author":"Sitti M.","year":"2015","journal-title":"Proceedings of the IEEE"},{"key":"e_1_2_9_10_1","doi-asserted-by":"crossref","first-page":"2575","DOI":"10.1038\/s41467-019-10579-1","article-title":"Directed Propulsion of Spherical Particles Along Three Dimensional Helical Trajectories","volume":"10","author":"Lee J. G.","year":"2019","journal-title":"Nature Communications"},{"key":"e_1_2_9_11_1","doi-asserted-by":"crossref","DOI":"10.1103\/PhysRevLett.100.058302","article-title":"Induced\u2010Charge Electrophoresis of Metallodielectric Particles","volume":"100","author":"Gangwal S.","year":"2008","journal-title":"Physical Review Letters"},{"key":"e_1_2_9_12_1","doi-asserted-by":"crossref","DOI":"10.1021\/jacs.9b07785","article-title":"Active Patchy Colloids with Shape\u2010Tunable Dynamics","volume":"141","author":"Wang Z.","year":"2019","journal-title":"Journal of the American Chemical Society"},{"key":"e_1_2_9_13_1","doi-asserted-by":"crossref","first-page":"1377","DOI":"10.1177\/0278364920933655","article-title":"Three\u2010Dimensional Independent Control of Multiple Magnetic Microrobots via Inter\u2010Agent Forces","volume":"39","author":"Salehizadeh M.","year":"2020","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_2_9_14_1","doi-asserted-by":"crossref","DOI":"10.1002\/adma.201906766","article-title":"Pros and Cons: Magnetic versus Optical Microrobots","volume":"32","author":"Sitti M.","year":"2020","journal-title":"Advanced Materials"},{"key":"e_1_2_9_15_1","doi-asserted-by":"crossref","first-page":"4999","DOI":"10.1021\/acs.chemrev.0c01234","article-title":"Magnetically Driven Micro and Nanorobots","volume":"121","author":"Zhou H.","year":"2021","journal-title":"Chemical Reviews"},{"key":"e_1_2_9_16_1","doi-asserted-by":"crossref","first-page":"4095","DOI":"10.1039\/D1LC00575H","article-title":"Biologically Inspired Micro\u2010Robotic Swimmers Remotely Controlled by Ultrasound Waves","volume":"21","author":"Luo T.","year":"2021","journal-title":"Lab on a Chip"},{"key":"e_1_2_9_17_1","doi-asserted-by":"crossref","DOI":"10.1002\/smll.202300409","article-title":"Bubble\u2010Based Microrobots with Rapid Circular Motions for Epithelial Pinning and Drug Delivery","volume":"19","author":"Lee J. G.","year":"2023","journal-title":"Small"},{"key":"e_1_2_9_18_1","doi-asserted-by":"crossref","first-page":"3469","DOI":"10.1073\/pnas.1920099117","article-title":"Acoustically Powered Surface\u2010Slipping Mobile Microrobots","volume":"117","author":"Aghakhani A.","year":"2020","journal-title":"Proceedings of the National Academy of Sciences"},{"key":"e_1_2_9_19_1","doi-asserted-by":"crossref","DOI":"10.1103\/PhysRevApplied.4.064012","article-title":"Propulsion of Bubble\u2010Based Acoustic Microswimmers","volume":"4","author":"Bertin N.","year":"2015","journal-title":"Physical Review Applied"},{"key":"e_1_2_9_20_1","doi-asserted-by":"crossref","first-page":"48967","DOI":"10.1021\/acsami.2c13254","article-title":"Quantum Dot\u2010Based Micromotors With NIR\u2010I Light Photocatalytic Propulsion and NIR\u2010II Fluorescence","volume":"14","author":"Wang J.","year":"2022","journal-title":"ACS Applied Materials & Interfaces"},{"key":"e_1_2_9_21_1","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.abq2296","article-title":"Microscopic Robots with Onboard Digital Control","volume":"7","author":"Reynolds M. F.","year":"2022","journal-title":"Science Robotics"},{"key":"e_1_2_9_22_1","doi-asserted-by":"crossref","first-page":"557","DOI":"10.1038\/s41586-020-2626-9","article-title":"Electronically Integrated, Mass\u2010Manufactured, Microscopic Robots","volume":"584","author":"Miskin M. Z.","year":"2020","journal-title":"Nature"},{"key":"e_1_2_9_23_1","doi-asserted-by":"crossref","DOI":"10.1002\/adma.202402482","article-title":"Arbitrary Construction of Versatile NIR\u2010Driven Microrobots","volume":"36","author":"Li W.","year":"2024","journal-title":"Advanced Materials"},{"key":"e_1_2_9_24_1","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.ado5888","article-title":"Counterfactual Rewards Promote Collective Transport using Individually Controlled Swarm Microrobots","volume":"9","author":"Heuthe V.\u2010L.","year":"2024","journal-title":"Science Robotics"},{"key":"e_1_2_9_25_1","doi-asserted-by":"crossref","DOI":"10.1016\/j.xcrp.2020.100181","article-title":"Chemical Microrobots as Self\u2010Propelled Microbrushes Against Dental Biofilm","volume":"1","author":"Villa K.","year":"2020","journal-title":"Cell Reports Physical Science"},{"key":"e_1_2_9_26_1","doi-asserted-by":"crossref","DOI":"10.34133\/2020\/7823615","article-title":"Multigear Bubble Propulsion of Transient Micromotors","volume":"2020","author":"Nourhani A.","year":"2020","journal-title":"Research"},{"key":"e_1_2_9_27_1","doi-asserted-by":"crossref","DOI":"10.1093\/nsr\/nwab066","article-title":"ZnO\u2010Based Micromotors Fueled by CO2: The First Example of Self\u2010Reorientation\u2010Induced Biomimetic Chemotaxis","volume":"8","author":"Mou F.","year":"2021","journal-title":"National Science Review"},{"key":"e_1_2_9_28_1","doi-asserted-by":"crossref","first-page":"1068","DOI":"10.3390\/mi13071068","article-title":"Review of Bubble Applications in Microrobotics: Propulsion, Manipulation, and Assembly","volume":"13","author":"Zhou Y.","year":"2022","journal-title":"Micromachines"},{"key":"e_1_2_9_29_1","doi-asserted-by":"crossref","first-page":"6683","DOI":"10.1021\/acsnano.9b09726","article-title":"Urease\u2010Powered Polydopamine Nanomotors for Intravesical Therapy of Bladder Diseases","volume":"14","author":"Choi H.","year":"2020","journal-title":"ACS Nano"},{"key":"e_1_2_9_30_1","doi-asserted-by":"crossref","first-page":"5587","DOI":"10.1021\/acsnano.1c10437","article-title":"Self\u2010Propelled Janus Mesoporous Micromotor for Enhanced MicroRNA Capture and Amplified Detection in Complex Biological Samples","volume":"16","author":"Zhang Y.","year":"2022","journal-title":"ACS Nano"},{"key":"e_1_2_9_31_1","doi-asserted-by":"crossref","DOI":"10.1002\/smll.201902464","article-title":"Self\u2010Propelled Micro\/Nanomotors for On\u2010Demand Biomedical Cargo Transportation","volume":"16","author":"Xu D.","year":"2020","journal-title":"Small"},{"key":"e_1_2_9_32_1","doi-asserted-by":"crossref","first-page":"907","DOI":"10.1016\/j.matt.2023.01.005","article-title":"An Axis\u2010Asymmetric Self\u2010Driven Micromotor that can Perform Precession Multiplying \u201cOn\u2010the\u2010Fly\u201d Mass Transfer","volume":"6","author":"Xiong K.","year":"2023","journal-title":"Matter"},{"key":"e_1_2_9_33_1","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1002\/idm2.12021","article-title":"Artificial Nanomotors: Fabrication, Locomotion Characterization, Motion Manipulation, and Biomedical Applications","volume":"1","author":"Wang L.","year":"2022","journal-title":"Interdisciplinary Materials"},{"key":"e_1_2_9_34_1","doi-asserted-by":"crossref","DOI":"10.1093\/nsr\/nwaf580","article-title":"Bienzyme\u2010Powered Nanorobots with Ultrasensitive Chemotaxis for Precision Cancer Therapy","volume":"13","author":"Yang Z.","year":"2026","journal-title":"National Science Review"},{"key":"e_1_2_9_35_1","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1038\/d41586-021-00021-2","article-title":"Tiny Robots and Sensors Need Tiny Batteries \u2014 Here's How to Do It","volume":"589","author":"Zhu M.","year":"2021","journal-title":"Nature"},{"key":"e_1_2_9_36_1","doi-asserted-by":"crossref","first-page":"4642","DOI":"10.1126\/scirobotics.ade4642","article-title":"High Energy Density Picoliter\u2010Scale Zinc\u2010Air Microbatteries for Colloidal Robotics","volume":"9","author":"Zhang G.","year":"2024","journal-title":"Science Robotics"},{"key":"e_1_2_9_37_1","doi-asserted-by":"crossref","first-page":"1453","DOI":"10.1038\/s41563-023-01589-y","article-title":"Colloidal Robotics","volume":"22","author":"Liu A. T.","year":"2023","journal-title":"Nature Materials"},{"key":"e_1_2_9_38_1","doi-asserted-by":"crossref","first-page":"5734","DOI":"10.1038\/s41467-022-33396-5","article-title":"Emergent Microrobotic Oscillators via Asymmetry\u2010Induced Order","volume":"13","author":"Yang J. F.","year":"2022","journal-title":"Nature Communications"},{"key":"e_1_2_9_39_1","doi-asserted-by":"crossref","DOI":"10.1002\/aisy.202100205","article-title":"Temporal Access to Memory, Sensing, and Actuation","volume":"4","author":"Yang J. F.","year":"2022","journal-title":"Advanced Intelligent Systems"},{"key":"e_1_2_9_40_1","doi-asserted-by":"crossref","DOI":"10.1103\/PhysRevResearch.1.032030","article-title":"Autonomous Navigation of Shape\u2010Shifting Microswimmers","volume":"1","author":"Dou Y.","year":"2019","journal-title":"Physical Review Research"},{"key":"e_1_2_9_41_1","doi-asserted-by":"crossref","first-page":"2388","DOI":"10.1002\/asia.201900377","article-title":"Colloidal Motors 101: A Beginner's Guide to Colloidal Motor Research","volume":"14","author":"Chen X.","year":"2019","journal-title":"Chemistry\u2014An Asian Journal"},{"key":"e_1_2_9_42_1","doi-asserted-by":"crossref","DOI":"10.1103\/PhysRevLett.99.048102","article-title":"Self\u2010Motile Colloidal Particles: From Directed Propulsion to Random Walk","volume":"99","author":"Howse J. R.","year":"2007","journal-title":"Physical Review Letters"},{"key":"e_1_2_9_43_1","doi-asserted-by":"crossref","first-page":"711","DOI":"10.1038\/s42256-020-00248-0","article-title":"Chemically Programmable Microrobots Weaving a Web from hormones","volume":"2","author":"Dekanovsky L.","year":"2020","journal-title":"Nature Machine Intelligence"},{"key":"e_1_2_9_44_1","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1021\/nl052027s","article-title":"Autonomously Moving Nanorods at a Viscous Interface","volume":"6","author":"Dhar P.","year":"2006","journal-title":"Nano Letters"},{"key":"e_1_2_9_45_1","doi-asserted-by":"crossref","first-page":"13424","DOI":"10.1021\/ja047697z","article-title":"Catalytic Nanomotors:\u2009 Autonomous Movement of Striped Nanorods","volume":"126","author":"Paxton W. F.","year":"2004","journal-title":"Journal of the American Chemical Society"},{"key":"e_1_2_9_46_1","doi-asserted-by":"crossref","first-page":"3646","DOI":"10.1039\/c3tc30176a","article-title":"Metallic and bi\u2010metallic Janus Nanofibers: Electrical and Self\u2010Propulsion Properties","volume":"1","author":"Reddy N. K.","year":"2013","journal-title":"Journal of Materials Chemistry C"},{"key":"e_1_2_9_47_1","doi-asserted-by":"crossref","first-page":"10451","DOI":"10.1021\/la0615950","article-title":"Bipolar Electrochemical Mechanism for the Propulsion of Catalytic Nanomotors in Hydrogen Peroxide Solutions","volume":"22","author":"Wang Y.","year":"2006","journal-title":"Langmuir"},{"key":"e_1_2_9_48_1","doi-asserted-by":"crossref","DOI":"10.1088\/1361-6463\/aae6f6","article-title":"Self\u2010Propulsion of Bent Bimetallic Janus Rods","volume":"52","author":"Venkateshwar Rao D.","year":"2019","journal-title":"Journal of Physics D: Applied Physics"},{"key":"e_1_2_9_49_1","doi-asserted-by":"crossref","first-page":"24876","DOI":"10.1021\/acs.jpcc.1c06458","article-title":"Electrocatalytic Reaction Driven Flow: Role of pH in Flow Reversal","volume":"125","author":"Ashaju A. A.","year":"2021","journal-title":"The Journal of Physical Chemistry C"},{"key":"e_1_2_9_50_1","doi-asserted-by":"crossref","first-page":"888","DOI":"10.1039\/b503016a","article-title":"Characterization of SU\u20108 for Electrokinetic Microfluidic Applications","volume":"5","author":"Sikanen T.","year":"2005","journal-title":"Lab on a Chip"},{"key":"e_1_2_9_51_1","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1007\/s10765-025-03557-x","article-title":"Effects of pH and Nanoparticle Concentration on Al2O3\u2013H2O Nanofluid Stability","volume":"46","author":"AlMuhaysh K. A.","year":"2025","journal-title":"International Journal of Thermophysics"},{"key":"e_1_2_9_52_1","doi-asserted-by":"crossref","first-page":"5597","DOI":"10.1063\/1.1398300","article-title":"The Effect of Surface Roughness on the Adhesion of Elastic Solids","volume":"115","author":"Persson B. N. J.","year":"2001","journal-title":"The Journal of Chemical Physics"},{"key":"e_1_2_9_53_1","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1007\/s00707-021-03109-y","article-title":"A Friction Model of Fractal Rough Surfaces Accounting for Size Dependence at Nanoscale","volume":"233","author":"Liang X. M.","year":"2022","journal-title":"Acta Mechanica"},{"key":"e_1_2_9_54_1","doi-asserted-by":"crossref","first-page":"497","DOI":"10.2307\/2372560","article-title":"On Curves of Minimal Length With a Constraint on Average Curvature, and With Prescribed Initial and Terminal Positions and Tangents","volume":"79","author":"Dubins L. E.","year":"1957","journal-title":"American Journal of Mathematics"},{"key":"e_1_2_9_55_1","doi-asserted-by":"crossref","DOI":"10.1002\/aisy.202400002","article-title":"A Microrobotic Design for the Spontaneous Tracing of Isochemical Contours in the Environment","volume":"6","author":"Brooks A. M.","year":"2024","journal-title":"Advanced Intelligent Systems"},{"key":"e_1_2_9_56_1","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1017\/S0022112004009309","article-title":"Induced\u2010charge electro\u2010osmosis","volume":"509","author":"Squires T. M.","year":"2004","journal-title":"Journal of Fluid Mechanics"},{"key":"e_1_2_9_57_1","doi-asserted-by":"crossref","DOI":"10.1088\/0034-4885\/72\/9\/096601","article-title":"The hydrodynamics of swimming microorganisms","volume":"72","author":"Lauga E.","year":"2009","journal-title":"Reports on Progress in Physics"},{"key":"e_1_2_9_58_1","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1146\/annurev.fl.21.010189.000425","article-title":"Colloid Transport by Interfacial Forces","volume":"21","author":"Anderson J. L.","year":"1989","journal-title":"Annual Review of Fluid Mechanics"},{"key":"e_1_2_9_59_1","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1017\/jfm.2014.158","article-title":"Phoretic self\u2010propulsion at finite P\u00e9clet numbers","volume":"747","author":"Michelin S.","year":"2014","journal-title":"Journal of Fluid Mechanics"},{"key":"e_1_2_9_60_1","doi-asserted-by":"crossref","first-page":"8743","DOI":"10.1021\/acsami.1c21352","article-title":"Wheel\u2010Like Magnetic\u2010Driven Microswarm With a Band\u2010Aid Imitation for Patching Up Microscale Intestinal Perforation","volume":"14","author":"Yue H.","year":"2022","journal-title":"ACS Applied Materials & Interfaces"},{"key":"e_1_2_9_61_1","doi-asserted-by":"crossref","DOI":"10.1002\/aisy.202100266","article-title":"Magnetic Mobile Microrobots for Upstream and Downstream Navigation in Biofluids with Variable Flow Rate","volume":"4","author":"Wu Z.","year":"2022","journal-title":"Advanced Intelligent Systems"},{"key":"e_1_2_9_62_1","doi-asserted-by":"crossref","first-page":"8803","DOI":"10.1021\/acsnano.1c01259","article-title":"SynCells: A 60 \u00d7 60\u00a0\u00b5m 2 Electronic Platform With Remote Actuation for Sensing Applications in Constrained Environments","volume":"15","author":"Hempel M.","year":"2021","journal-title":"ACS Nano"},{"key":"e_1_2_9_63_1","doi-asserted-by":"crossref","DOI":"10.1002\/aisy.201900147","article-title":"3D\u2010Printed Microrobots with Integrated Structural Color for Identification and Tracking","volume":"2","author":"Koepele C. A.","year":"2020","journal-title":"Advanced Intelligent Systems"},{"key":"e_1_2_9_64_1","doi-asserted-by":"crossref","DOI":"10.1002\/adma.202000366","article-title":"Bioinspired Soft Microrobots with Precise Magneto\u2010Collective Control for Microvascular Thrombolysis","volume":"32","author":"Xie M.","year":"2020","journal-title":"Advanced Materials"},{"key":"e_1_2_9_65_1","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.aaz3867","article-title":"Elucidating the Interaction Dynamics between Microswimmer Body and Immune System for Medical Microrobots","volume":"5","author":"Yasa I. C.","year":"2020","journal-title":"Science Robotics"},{"key":"e_1_2_9_66_1","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.abm9132","article-title":"Real\u2010Time 3D Optoacoustic Tracking of Cell\u2010Sized Magnetic Microrobots Circulating in the Mouse Brain Vasculature","volume":"8","author":"Wrede P.","year":"2022","journal-title":"Science Advances"},{"key":"e_1_2_9_67_1","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.adp3593","article-title":"Imaging\u2010Guided Bioresorbable Acoustic Hydrogel Microrobots","volume":"9","author":"Han H.","year":"2024","journal-title":"Science Robotics"},{"key":"e_1_2_9_68_1","doi-asserted-by":"crossref","DOI":"10.1002\/admt.202201702","article-title":"Ultrasound Microrobots with Reinforcement Learning","volume":"8","author":"Schrage M.","year":"2023","journal-title":"Advanced Materials Technologies"},{"key":"e_1_2_9_69_1","doi-asserted-by":"crossref","DOI":"10.34133\/2020\/3676954","article-title":"Leukocyte Membrane\u2010Coated Liquid Metal Nanoswimmers for Actively Targeted Delivery and Synergistic Chemophotothermal Therapy","volume":"2020","author":"Wang D.","year":"2020","journal-title":"Research"},{"key":"e_1_2_9_70_1","doi-asserted-by":"crossref","first-page":"4686","DOI":"10.1039\/C6SM00052E","article-title":"Origins of concentration gradients for diffusiophoresis","volume":"12","author":"Velegol D.","year":"2016","journal-title":"Soft Matter"},{"key":"e_1_2_9_71_1","doi-asserted-by":"crossref","first-page":"10637","DOI":"10.1021\/acsnano.7b06701","article-title":"Carbon Nanotubes as Optical Sensors in Biomedicine","volume":"11","author":"Farrera C.","year":"2017","journal-title":"ACS Nano"},{"key":"e_1_2_9_72_1","doi-asserted-by":"crossref","first-page":"959","DOI":"10.1038\/nnano.2013.236","article-title":"Molecular Recognition using Corona Phase Complexes Made of Synthetic Polymers Adsorbed on Carbon Nanotubes","volume":"8","author":"Zhang J.","year":"2013","journal-title":"Nature Nanotechnology"},{"key":"e_1_2_9_73_1","doi-asserted-by":"crossref","first-page":"819","DOI":"10.1038\/s41565-018-0194-z","article-title":"Colloidal Nanoelectronic State Machines Based on 2D Materials for Aerosolizable Electronics","volume":"13","author":"Koman V. B.","year":"2018","journal-title":"Nature Nanotechnology"},{"key":"e_1_2_9_74_1","doi-asserted-by":"crossref","first-page":"1005","DOI":"10.1038\/s41563-018-0197-z","article-title":"Autoperforation of 2D Materials for Generating Two\u2010Terminal Memristive Janus Particles","volume":"17","author":"Liu P.","year":"2018","journal-title":"Nature Materials"}],"container-title":["Small"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.76039","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/smll.76039","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.76039","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T13:31:45Z","timestamp":1791120705000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/smll.76039"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,10,4]]},"references-count":73,"alternative-id":["10.1002\/smll.76039"],"URL":"https:\/\/doi.org\/10.1002\/smll.76039","archive":["Portico"],"relation":{},"ISSN":["1613-6810","1613-6829"],"issn-type":[{"value":"1613-6810","type":"print"},{"value":"1613-6829","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,10,4]]},"assertion":[{"value":"2026-04-28","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-09-22","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-10-04","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e76039"}}