Fig. 3: Effect of radius ratio between the robot and RBCs (ϵ) on robot locomotion. | Communications Physics

Fig. 3: Effect of radius ratio between the robot and RBCs (ϵ) on robot locomotion.

From: Drag force on a microrobot propelled through blood

Fig. 3

a Effect of ϵ on the relative resistance coefficient of the robot (\({C}_{{{{{{{{\rm{r}}}}}}}}}^{{{{{{{{\rm{* }}}}}}}}}\)) in an RBC suspension (ϕ = 20% and Γ = 1.0). Each data point corresponds to robot locomotion from three independent trials. Error bars correspond to the standard deviation. b Variation of \({C}_{{{{{{{{\rm{r}}}}}}}}}^{{{{{{{{\rm{* }}}}}}}}}\) under the influence of a solitary RBC, with ϵ = 0.4 (blue) and ϵ = 1.9 (violet). The insets show the simulation setup, including the adjustment of the angle (θRBC) between the normal vector of the RBC plane (nRBC) and z-axis. \({C}_{{{{{{{{\rm{r}}}}}}}}}^{* }\) is calculated from the initial moment until the slowest robot fully traversed the RBC, employing same methodology outlined in Eq. (2).

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