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Generalized Direct Fabrication of Embedded-Magnet Microrobots with Enhanced Material Compatibility.

Yang Yang¹, Jeremy B Gan², Jialong Huang²

¹Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN, 47906, USA.

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|January 16, 2026

Summary

We developed a new direct-printing method to embed micro-magnets into microrobots during fabrication. This improves magnetic microrobot manufacturing for applications like drug delivery and diagnostics.

Keywords:

TPP fabrication microrobot sputtering surface modification

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Area of Science:

Microrobotics
Materials Science
Biomedical Engineering

Background:

Magnetically actuated microrobots show promise for targeted drug delivery and diagnostics.
Current fabrication methods face challenges in magnetic material integration, robustness, and reproducibility.

Purpose of the Study:

To present an improved direct-printing strategy for fabricating microrobots with integrated permanent micro-magnets.
To enhance magnetic material compatibility and interfacial reliability using sputtering-based surface modification.

Main Methods:

Integration of permanent micro-magnets during two-photon polymerization (TPP).
Sputtering-based surface modification for robust magnet integration.
Fabrication and characterization of four functional microrobotic platforms.

Main Results:

Demonstrated four microrobotic platforms: helical microswimmer, tumbling microrobot, micro-gripper, and mini-MicroTumbler (MMT).
Characterized performance under varying frequencies and environments, showing frequency-dependent propulsion, stable locomotion, controllable deformation, and reliable motion.
Achieved robust integration of both pre-coated and surface-treated magnets.

Conclusions:

Established a scalable, material-flexible, and high-fidelity fabrication method for embedded-magnet microrobots.
Broadened the design space for multifunctional, magnetically actuated microsystems.
Enabled the next generation of advanced microrobotic applications.