{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T16:38:26Z","timestamp":1764002306530,"version":"3.33.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2019,12,23]],"date-time":"2019-12-23T00:00:00Z","timestamp":1577059200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-11-JS03-0002"],"award-info":[{"award-number":["ANR-11-JS03-0002"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:p> Helical microrobots with dimensions below 100 \u00b5m could serve many applications for manipulation and sensing in small, closed environments such as blood vessels or inside microfluidic chips. However, environmental conditions such as surface stiction from the channel wall or local flow can quickly result in the loss of control of the microrobot, especially for untrained users. Therefore, to automatically adapt to changing conditions, we propose an algorithm that switches between a surface-based motion of the microrobot and a 3D swimming motion depending on the local flow value. Indeed swimming is better for avoiding obstacles and difficult surface stiction areas but it is more sensitive to the flow than surface motion such as rolling or spintop motion. First, we prove the flow sensing ability of helical microrobots based on the difference between the tracked and theoretical speed. For this, a 50 \u00b5m long and 5 \u00b5m diameter helical microrobot measures the flow profile shape in two different microchannels. These measurements are then compared with simulation results. Then, we demonstrate both swimming and surface-based motion using closed-loop control. Finally, we test our algorithm by following a 2D path using closed-loop control, and adapting the type of motion depending on the flow speed measured by the microrobot. Such results could enable simple high-level control that could expand the development of microrobots toward applications in complex microfluidic environments. <\/jats:p>","DOI":"10.1177\/0278364919894374","type":"journal-article","created":{"date-parts":[[2019,12,23]],"date-time":"2019-12-23T12:10:39Z","timestamp":1577103039000},"page":"476-489","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":21,"title":["Local flow sensing on helical microrobots for semi-automatic motion adaptation"],"prefix":"10.1177","volume":"39","author":[{"given":"Antoine","family":"Barbot","sequence":"first","affiliation":[{"name":"Centre for Nanoscience and Nanotechnology, CNRS, Univ. Paris-Sud, Univ. Paris-Saclay, Palaiseau, France"}]},{"given":"Dominique","family":"Decanini","sequence":"additional","affiliation":[{"name":"Centre for Nanoscience and Nanotechnology, CNRS, Univ. Paris-Sud, Univ. Paris-Saclay, Palaiseau, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3232-3085","authenticated-orcid":false,"given":"Gilgueng","family":"Hwang","sequence":"additional","affiliation":[{"name":"Centre for Nanoscience and Nanotechnology, CNRS, Univ. Paris-Sud, Univ. Paris-Saclay, Palaiseau, France"}]}],"member":"179","published-online":{"date-parts":[[2019,12,23]]},"reference":[{"key":"bibr1-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1038\/srep19041"},{"key":"bibr2-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2017.09.004"},{"key":"bibr3-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X568611"},{"key":"bibr4-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1109\/20.539498"},{"key":"bibr5-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1039\/c2lc41190c"},{"key":"bibr6-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0807698106"},{"key":"bibr7-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1039\/C3NR04760A"},{"key":"bibr8-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X568620"},{"key":"bibr9-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1021\/acs.nanolett.5b04221"},{"key":"bibr10-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1002\/smll.201303538"},{"issue":"3","key":"bibr11-0278364919894374","first-page":"11","volume":"45","author":"Purcell E","year":"1977","journal-title":"American Journal of Physics"},{"key":"bibr12-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201403891"},{"key":"bibr13-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1017\/jfm.2012.101"},{"key":"bibr14-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504327"},{"key":"bibr15-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201103818"},{"key":"bibr16-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1107\/S1600576714004403"},{"key":"bibr17-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1039\/C2NR32798H"},{"key":"bibr18-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1063\/1.4754521"},{"key":"bibr19-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1021\/nn101861n"},{"key":"bibr20-0278364919894374","doi-asserted-by":"publisher","DOI":"10.1039\/c004450b"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919894374","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364919894374","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919894374","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T00:39:34Z","timestamp":1738024774000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364919894374"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,23]]},"references-count":20,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,3]]}},"alternative-id":["10.1177\/0278364919894374"],"URL":"https:\/\/doi.org\/10.1177\/0278364919894374","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2019,12,23]]}}}