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

Generalized Direct Fabrication of Embedded-Magnet Microrobots with Enhanced Material Compatibility | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Generalized Direct Fabrication of Embedded-Magnet Microrobots with Enhanced Material Compatibility Yang Yang, Jeremy B. Gan, Jialong Huang, Sven Mucke, Aaron C. Davis, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8118101/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 9 You are reading this latest preprint version Abstract Magnetically actuated microrobots offer transformative potential for biomedical applications such as targeted drug delivery and minimally invasive diagnostics. However, existing fabrication methods are constrained by challenges in magnetic material integration, structural robustness, and reproducibility. In this work, we present an improved direct-printing strategy that integrates permanent micro-magnets into microrobots during the two-photon polymerization (TPP) process, thereby eliminating the need for post-assembly alignment or insertion. To enhance magnetic-material compatibility and interfacial reliability, a sputtering-based surface modification technique is introduced, enabling robust integration of both pre-coated and surface-treated magnets. Using this approach, four functional microrobotic platforms are demonstrated: (1) a helical microswimmer for efficient propulsion, (2) a micro-scale tumbling microrobot for terrain locomotion, (3) a compliant micro-gripper for precise grasping and manipulation, and (4) a mini-MicroTumbler (MMT) incorporating a sputter-modified magnet for stable microscale actuation. Performance characterization was conducted under varying actuation frequencies and environments. The microswimmer exhibited frequency-dependent propulsion consistent with magnetic step-out behavior, the MicroTumbler achieved stable locomotion across inclined surfaces, the micro-gripper demonstrated controllable deformation and object manipulation, and the MMT showed reliable frequency-dependent motion.This study establishes a scalable, material-flexible, and high-fidelity fabrication method for embedded-magnet microrobots, broadening the design space and enabling the next generation of multifunctional, magnetically actuated microsystems. microrobot fabrication surface modification sputtering TPP Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 14 Mar, 2026 Reviews received at journal 16 Jan, 2026 Reviews received at journal 11 Jan, 2026 Reviewers agreed at journal 07 Jan, 2026 Reviewers agreed at journal 07 Jan, 2026 Reviewers invited by journal 07 Jan, 2026 Editor assigned by journal 18 Nov, 2025 Submission checks completed at journal 17 Nov, 2025 First submitted to journal 14 Nov, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8118101","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":570901292,"identity":"ad2d8d3e-68a7-44ea-8ec6-a75bf8e3862f","order_by":0,"name":"Yang Yang","email":"","orcid":"","institution":"Purdue University West Lafayette","correspondingAuthor":false,"prefix":"","firstName":"Yang","middleName":"","lastName":"Yang","suffix":""},{"id":570901297,"identity":"94772b71-bf92-4230-9a1d-5d5896b6bb76","order_by":1,"name":"Jeremy B. 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