Microrobotic Control of Paramecium Cells using Galvanotaxis

Our goal is to control microorganisms as microscale smart robots for various applications. In this paper, we introduce two approaches: a novel visual feedback control system for Paramecium cells and a dynamics model of Paramecium galvanotaxis (intrinsic reaction to electrical stimulus) for procise actuation. In the former part, we propose a microrobotic control system of cells using high-speed tracking. we have controlled Paramecium cells by utilizing the galvanotaxis. Experimental results for periodic zigzag motion and trapping within a small region 1 mm wide demonstrate the possibility of using microorganisms as micromachines. In the latter part, dynamics model of galvanotaxis. we construct a novel model of galvanotaxis as a minimal step to utilizing Paramecium cells as micro-robots. Bumerical experiments for our model demonstrate realistic behaviors, such as U-turn motions, like those of real cells.