Extended Data Fig. 4: 3D Demonstration of Microrobot Manipulation.
From: Model-based reinforcement learning for ultrasound-driven autonomous microrobots
a. 3D microchannel where microrobots are manipulated. b. Bottom view of the transducer array, illustrating the arrangement of PZTs for 3D control. c. Experimental setup featuring an array of 18 piezoelectric transducers placed in a conical channel, with coupling gel applied between the array and the microchannel for efficient ultrasound transmission. d. Sequence of images showing microrobot movement in 3D as it leaves the focal plane, demonstrating its ability to navigate beyond the primary field of view.
