Understanding Robustness of Magnetically Driven Helical Propulsion in Viscous Fluids Using Sensitivity Analysis

Magnetically-actuated helical microrobots can propel themselves in fluids and tissues-like mediums with a wide range of Reynolds numbers (Re). The properties physiological input parameters vary time space have direct influence on their locomotion along prescribed paths. Therefore, understanding the response to variations rheological become increasingly important translate them into vivo applications. Here, physical framework is presented understand predict key whose uncertainty affect certain state variables most. A six-degree-of-freedom magneto-hydrodynamic model developed based resistive force theory (RFT) robots swimming through different examine during transitions Newtonian–viscoelastic interfaces. Performance robot, while fluid fixed viscosity, quantified using sensitivity analysis model. numerical results show how abrupt changes viscosity ability rotate rotating field synchrony. shows that states robot are mostly sensitive actuation frequency. Open-loop experiments performed permanent-magnet robotic system comprising arm permanent magnet actuate control at Newtonian–Viscoelastic interface validate theoretical predictions RFT-based analysis.