This study introduces the integration of hybrid magnetic and electric actuation mechanisms to achieve advanced motion capabilities for Janus particle (JP) microrobots. We demonstrate enhanced in-plane motion control through versatile control strategies and present the concepts of interplanar transitions and 2.5-dimensional (2.5D) trajectories, enabled by magnetic levitation and electrostatic trapping. These innovations expand the mobility of JPs into 3D space, allowing dynamic operation beyond the limitations of traditional surface-bound motion. Key functionalities include obstacle crossing, transitions to elevated surfaces, and discrete surface patterning enabling highly localized interventions. Using this set of tools, we also showcase the controlled out-of-plane transport of both synthetic and biological cargo. Together, these advancements lay the groundwork for novel microrobot-related applications in microfluidic systems and biomedical research.

翻译：本研究提出通过整合混合磁电驱动机制，实现Janus粒子（JP）微机器人的先进运动能力。我们通过多种控制策略展示了增强的平面内运动控制，并提出了由磁悬浮与静电捕获实现的平面间转换与2.5维（2.5D）轨迹概念。这些创新将JP的运动能力扩展至三维空间，使其能够突破传统表面束缚运动的限制进行动态操作。关键功能包括障碍物跨越、向高处表面的转移以及可实现高度局部化干预的离散表面图案化。利用这套工具，我们还展示了合成与生物载体的受控平面外输运。这些进展共同为微流体系统和生物医学研究中的新型微机器人应用奠定了基础。